Portable integrated uav

ABSTRACT

An unmanned aerial vehicle (UAV) includes a central body having a lateral dimension substantially less than a vertical dimension, and one or more propulsion units supported by the central body. The one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of International Application No.PCT/CN2017/091832, filed Jul. 5, 2017, the entire content of which isincorporated herein by reference.

BACKGROUND OF THE DISCLOSURE

Unmanned aerial vehicles (UAVs) are used for aerial photography.Oftentimes, UAVs have a quadcopter format, with four motors and sets ofrotor blades. The volume for quadcopter UAVs are often fairly large tosupport the motors. When quadcopter sizes are reduced, this may be atthe expense of force efficiency, which quickly drains the battery anddoes not permit extended flight.

Furthermore, when flying in the air, traditional quadcopters may makethe body lean forward, generating a reversal of an airfoil and therebycausing wind pressure downwards. This causes increased drag, whichrequires more force from the motors to counteract the drag. This reducesbattery life.

SUMMARY OF THE DISCLOSURE

A need exists for unmanned aerial vehicles (UAVs) that are both portableand that provide stable flight. A further need exists for UAVs thatreduce drag, and provide extended battery life, thereby permittinglonger flights on a given battery charge. Moreover, a need exists forUAVs that are suited for aerial and manual photography, such as selfies.

Systems and methods for improved flight of portable UAVs are provided. AUAV may be configured to have a central body with a lateral dimensionsubstantially less than a vertical dimension, and one or more propulsionunits may be provided. In some instances, two propulsion units may besupported at distal ends of a narrow central body. The UAV may have asmall footprint and reduced wind resistance. In some embodiments,components may be added or moved around the portable UAV for increasedfunctionality. The UAV may be used for aerial and land-basedphotography.

Aspects of the disclosure are directed to an unmanned aerial vehicle(UAV) comprising: a central body having a lateral dimensionsubstantially less than a vertical dimension; and one or more propulsionunits supported by the central body, wherein the one or more propulsionunits comprise rotor blades configured to rotate to generate lift forthe UAV.

Furthermore, aspects of the disclosure may be directed to a method forproviding an unmanned aerial vehicle (UAV), said method comprising:providing a central body having a lateral dimension substantially lessthan a vertical dimension; and supporting, by the central body, one ormore propulsion units, wherein the one or more propulsion units compriserotor blades configured to rotate to generate lift for the UAV.

Additional aspects of the disclosure may be directed to a kit for anunmanned aerial vehicle (UAV) comprising: a central body having alateral dimension substantially less than a vertical dimension; one ormore propulsion units configured to be supported by the central body,wherein the one or more propulsion units comprise rotor bladesconfigured to rotate to generate lift for the UAV; and instructions forassembly or operation of the UAV.

Aspects of the disclosure may also include an unmanned aerial vehicle(UAV) comprising: a central body having a longitudinal axis extendingalong a length of the central body, wherein the length is greater thanor equal to a width of the central body; and at least two propulsionunits supported at distal ends of the central body along thelongitudinal axis, wherein the propulsion units comprise rotor bladesconfigured to rotate to generate lift for the UAV.

A method for providing an unmanned aerial vehicle (UAV) may be providedin accordance with further aspects of the disclosure. The method maycomprise: providing a central body having a longitudinal axis extendingalong a length of the central body, wherein the length is greater thanor equal to a width of the central body; and supporting, at distal endsof the central body, at least two propulsion units along thelongitudinal axis, wherein the propulsion units comprise rotor bladesconfigured to rotate to generate lift for the UAV.

Moreover, aspects of the disclosure may be directed to a kit for anunmanned aerial vehicle (UAV) comprising: a central body having alongitudinal axis extending along a length of the central body, whereinthe length is greater than or equal to a width of the central body; atleast two propulsion units configured to be supported at distal ends ofthe central body along the longitudinal axis, wherein the propulsionunits comprise rotor blades configured to rotate to generate lift forthe UAV; and instructions for assembly or operation of the UAV.

In accordance with additional aspects of the disclosure, an unmannedaerial vehicle (UAV) may comprise: a central body; and one or morepropulsion units supported by the central body, wherein the one or morepropulsion units comprise rotor blades configured to rotate to generatelift for the UAV; and an image capturing device, wherein the rotorblades are located above the image-capturing device during a firstflight mode, and the rotor blades are located beneath the imagecapturing device during a second flight mode, wherein a transitionbetween the first flight mode and the second flight mode is effected byadjusting an orientation of the one or more propulsion units relative tothe central body.

Aspects of the disclosure may be directed to a method for providing anunmanned aerial vehicle (UAV), said method comprising: providing acentral body; supporting, by the central body, one or more propulsionunits, wherein the one or more propulsion units comprise rotor bladesconfigured to rotate to generate lift for the UAV; and providing animage capturing device, wherein the rotor blades are located above theimage-capturing device during a first flight mode, and the rotor bladesare located beneath the image capturing device during a second flightmode, wherein a transition between the first flight mode and the secondflight mode is effected by adjusting an orientation of the one or morepropulsion units relative to the central body.

Further aspects of the disclosure may be directed to a kit for anunmanned aerial vehicle (UAV) comprising: a central body; one or morepropulsion units configured to be supported by the central body, whereinthe one or more propulsion units comprise rotor blades configured torotate to generate lift for the UAV; an image capturing device, whereinthe rotor blades configured to be located above the image-capturingdevice during a first flight mode, and the rotor blades configured to belocated beneath the image capturing device during a second flight mode,wherein a transition between the first flight mode and the second flightmode is effected by adjusting an orientation of the one or morepropulsion units relative to the central body; and instructions forassembly or operation of the UAV.

Additionally, aspects of the disclosure may provide an unmanned aerialvehicle (UAV) comprising: a central body; one or more propulsion unitssupported by the central body, wherein the one or more propulsion unitscomprise rotor blades configured to rotate to generate lift for the UAV;and an extension that can be attached and detached from multipleportions of the central body.

A method for providing an unmanned aerial vehicle (UAV) may be providedin accordance with aspects of the disclosure, said method comprising:providing a central body; and supporting, by the central body, one ormore propulsion units along the longitudinal axis, wherein the one ormore propulsion units comprise rotor blades configured to rotate togenerate lift for the UAV; and providing an extension that can beattached and detached from multiple portions of the central body.

Moreover, aspects of the disclosure may be directed to a kit for anunmanned aerial vehicle (UAV) comprising: a central body; one or morepropulsion units configured to be supported by the central body, whereinthe one or more propulsion units comprise rotor blades configured torotate to generate lift for the UAV; an extension that can be attachedand detached from multiple portions of the central body; andinstructions for assembly or operation of the UAV.

In accordance with further aspects of the disclosure, an unmanned aerialvehicle (UAV) may comprise: a central body having a longitudinal axisextending along a length of the central body; one or more propulsionunits, wherein the propulsion units comprise rotor blades configured torotate to generate lift for the UAV; and one or more airfoils configuredto detachably coupled to the central body along the longitudinal axis.

Aspects of the disclosure may also be directed to a method for providingan unmanned aerial vehicle (UAV), said method comprising: providing acentral body having a longitudinal axis extending along a length of thecentral body; supporting, by the central body, one or more propulsionunits, wherein the one or more propulsion units comprise rotor bladesconfigured to rotate to generate lift for the UAV; and providing one ormore airfoils configured to detachably coupled to the central body alongthe longitudinal axis.

Furthermore, aspects of the disclosure may be directed to a kit for anunmanned aerial vehicle (UAV) comprising: a central body having alongitudinal axis extending along a length of the central body; one ormore propulsion units, wherein the propulsion units comprise rotorblades configured to rotate to generate lift for the UAV; one or moreairfoils configured to detachably coupled to the central body along thelongitudinal axis; and instructions for assembly or operation of theUAV.

Additional aspects of the disclosure may be directed to an unmannedaerial vehicle (UAV) comprising: a central body; one or more propulsionunits directly supported by the central body, wherein the propulsionunits comprise rotor blades configured to rotate to generate lift forthe UAV; and one or more arms configured to detachably coupled to thecentral body, wherein each of the one or more arms is configured tosupport one or more additional propulsion units.

In accordance with further aspects of the disclosure, a method forproviding an unmanned aerial vehicle (UAV) may be provided. The methodmay comprise: providing a central body; supporting, by the central body,one or more propulsion units, wherein the one or more propulsion unitscomprise rotor blades configured to rotate to generate lift for the UAV;and providing one or more arms configured to detachably coupled to thecentral body, wherein each of the one or more arms is configured tosupport one or more additional propulsion units.

Aspects of the disclosure may be directed to a kit for an unmannedaerial vehicle (UAV) comprising: a central body; one or more propulsionunits directly supported by the central body, wherein the propulsionunits comprise rotor blades configured to rotate to generate lift forthe UAV; one or more arms configured to detachably coupled to thecentral body, wherein each of the one or more arms is configured tosupport one or more additional propulsion units; and instructions forassembly or operation of the UAV.

Additional aspects and advantages of the present disclosure will becomereadily apparent to those skilled in this art from the followingdetailed description, wherein only exemplary embodiments of the presentdisclosure are shown and described, simply by way of illustration of thebest mode contemplated for carrying out the present disclosure. As willbe realized, the present disclosure is capable of other and differentembodiments, and its several details are capable of modifications invarious obvious respects, all without departing from the disclosure.Accordingly, the drawings and description are to be regarded asillustrative in nature, and not as restrictive.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.To the extent publications and patents or patent applicationsincorporated by reference contradict the disclosure contained in thespecification, the specification is intended to supersede and/or takeprecedence over any such contradictory material.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings (also “Figure” and “FIG.” herein), of which:

FIG. 1 shows an example of an unmanned aerial vehicle (UAV), inaccordance with embodiments of the disclosure.

FIG. 2 shows an example of a UAV with a possible internal layout, inaccordance with embodiments of the disclosure.

FIG. 3 shows examples of wind effects on UAVs, in accordance withembodiments of the disclosure.

FIG. 4 shows an example of a UAV with airfoil attachments, in accordancewith embodiments of the disclosure.

FIG. 5 shows an example of a UAV with foldable propellers, in accordancewith embodiments of the disclosure.

FIG. 6 shows an example of a UAV with multiple mounting sites, and anextension that can be attached or detached from the multiple mountingsites, in accordance with embodiments of the disclosure.

FIG. 7 shows an example of how an extension can be attached to a UAV asprotective gear, in accordance with embodiments of the disclosure.

FIG. 8 shows an example of how an extension can be attached to a UAV asa landing stand, in accordance with embodiments of the disclosure.

FIG. 9 shows an example of a foldable landing stand, in accordance withembodiments of the disclosure.

FIG. 10 shows an example of an extension that can be attached to the UAVas a tripod, in accordance with embodiments of the disclosure.

FIG. 11 shows an example of an extension that can be attached to the UAVas a selfie stick, in accordance with embodiments of the disclosure.

FIG. 12 shows multiple ways in which the UAV can be held, in accordancewith embodiments of the disclosure.

FIG. 13 shows a handheld sling and phone holder, in accordance withembodiments of the disclosure.

FIG. 14 shows an example of a UAV in a reverse flying mode, inaccordance with embodiments of the disclosure.

FIG. 15 shows an example of a UAV with one or more arm extensionssupporting additional propellers, in accordance with embodiments of thedisclosure.

FIG. 16 is a schematic diagram of an example of a movable objectincluding a carrier and a payload, in accordance with embodiments of thedisclosure.

FIG. 17 is a schematic diagram of an example of a system for controllinga movable object, in accordance with embodiments of the disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Systems, methods, and devices are provided for providing portableunmanned aerial vehicles (UAVs). A UAV may traverse an environment withaid of one or more propulsion units, such as propellers. The UAV mayhave a compact central body. The central body may have a significantlysmaller lateral dimension than a vertical dimension. In someembodiments, the central body may have a significantly smaller widththan length. The propellers may be supported directly on the centralbody. In some embodiments, two propellers may be supported at distalends of the central body along a longitudinal axis of the central body.

The UAV may be configured to have reduced wind resistance. The narrowcentral body of the UAV may provide a reduced lateral footprint that canexperience the downwards airflow from the propellers. This may requireless energy input to the motors to maintain flight, and provide anextended battery life. During flight, the UAV may be capable ofmaneuvering to use the central body as an airfoil, or may have airfoilattachments that can increase airfoil effects of the UAV body.

The UAV may have one or more mounting sites with may be configured toaccept an extension. In some instances, the same extension may beattached to different mounting sites. Examples of extensions mayinclude, but are not limited to, landing gear, propeller protectors,arms supporting one or more propellers, tripods, selfie sticks, handheldsupports, and/or camera mounts. The use of extensions may provideincreased flexibility in how the UAV is used. For instance, the UAV maybe well suited for both aerial and land-based photography.

FIG. 1 shows an example of an unmanned aerial vehicle (UAV), inaccordance with embodiments of the disclosure. View A shows a side viewof the UAV, View B provides a top view of the UAV, View C shows an endview of the UAV, and View D shows an oblique view of the UAV.

The UAV 100 may comprise a central body 110. The central body maysupport one or more propeller seats 120 and propellers 130. In someembodiments, the propeller seats and/or propellers may be capable ofchanging orientation relative to the central body with aid of one ormore actuators 140 and propeller supports 150. The UAV may also carry aload 160.

Any description herein of a UAV 100 may apply to any type of movableobject, and vice versa. A movable object may be any object capable ofmoving within an environment. The movable object may be capable ofself-propulsion. The movable object may be capable of navigating anytype of environment, such as air, land, water, and/or space. The movableobject may be capable of flight. The movable object may comprise one ormore propulsion units that may aid in movement of the movable object.The propulsion units may enable the movable object to be self-propelledwithout requiring human intervention. The propulsion units may includean actuator that may operate on electrical, magnetic, electromagnetic,chemical, biochemical, thermal, photovoltaic, or any other type ofenergy. The movable object may have any characteristic as described indetail elsewhere herein. The movable object may be a UAV. Anydescription herein of a movable object may apply to a UAV or any othertype of movable object. Similarly, any description herein of a UAV mayapply to any movable object, or specific type of movable object.

The movable object may be capable of any type of motion. For instance,the movable object may be capable of translation with respect to one,two, or three axes. The movable object may be capable of rotation aboutone, two, or three axes. The axes may be orthogonal to one another. Theaxes may comprise a yaw axis, pitch axis, and/or roll axis of themovable object.

The UAV may operate autonomously, semi-autonomously, or manually inresponse to input provided by a user via a remote terminal. In someinstances, a user may operate the UAV in a manual direct manner suchthat the UAV may respond directly to inputs provided by the UAV via theremote terminal. In some instances, the UAV may operatesemi-autonomously. The UAV may fly in a certain manner or pattern inresponse to an input by the user via the remote terminal. In someinstances, the UAV may fly in a fully autonomous manner withoutrequiring inputs via the remote terminal. The UAV may fly autonomouslyto execute a goal or mission. The UAV may or may not automatically avoidobstacles.

In some instances, a communication link may be established between theUAV and the remote terminal. The communication link may be a wirelesscommunication link. The communication link may be a direct communicationlink or an indirect communication link. For example, directcommunications may be provided between the UAV and the remote terminal(e.g., Bluetooth, infrared, WiFi, etc.). In some instances, indirectcommunications may be provided between the UAV and the remote terminal.The indirect communications may include communications over a networkand/or through one or more intermediary devices. Communications mayoccur over a telecommunications network, data network, WAN, LAN, or anyother type of network. Communications may pass through intermediarydevices such as satellites, telecommunication towers, routers, etc.

The UAV 100 may comprise a central body 110. The central body may alsobe referred to as a fuselage. The central body may house one or moreelectrical components therein. The central body may comprise a housingthat may partially or completely enclose one or more electricalcomponents therein. Examples of components that may be housed by thecentral body may include a power source, a flight controller,communication unit, one or more sensors, location units, actuators,and/or any other type of component. A housing may be formed from asingle piece or from multiple pieces. The multiple pieces may include aright side and a left side of the central body. The multiple pieces mayinclude a top portion and a bottom portion of the central body. Thehousing portions may or may not be separated by a user to access the oneor more electrical components therein.

The central body may have any form factor. In some embodiments, acentral body may have one or more lateral dimensions, such as a lengthland a width w. The central body may have a vertical dimension, such asheight h. In some embodiments, the central body may have a narrow shape.For instance, the width of the central body may be less than a lengththe central body. The width of the central body may be significantlyless than the length of the central body In some embodiments, a ratio ofa length of the central body to the width of the central body l:w may begreater than or equal to about 3:2, 2:1, 3:1, 4:1, 5:1, 6:1, 7:1, 8:1,9:1, 10:1, 12:1, 15:1, 20:1, 30:1, or 40:1. The width of the centralbody may be small enough to reduce obstruction of downward airflowgenerated by the rotor blades. In some embodiments, the width of thecentral body may be less than or equal to about 10 cm, 7 cm, 6 cm, 5 cm,4 cm, 3.5 cm, 3 cm, 2.5 cm, 2 cm, 1.5 cm, 1.2 cm, 1 cm, 0.7 cm, 0.5 cm,0.3 cm, 0.1 cm, 0.05 cm, or 0.01 cm. In some embodiments, the width ofthe central body may be significantly less than a length of a rotorblade of a propeller of the UAV. In some instances, a ratio of a lengthof the rotor blade of the propeller to a width of the central body maybe greater than or equal to about 3:2, 2:1, 3:1, 4:1, 5:1, 6:1, 7:1,8:1, 9:1, 10:1, 12:1, 15:1, 20:1, 30:1, or 40:1.

A lateral dimension of the central body may be substantially less than avertical dimension of the central body. In some embodiments, a width ofthe central body may be substantially less than a height of the centralbody. For instance, a ratio of a height of the central body to the widthof the central body h:w may be greater than or equal to about 3:2, 2:1,3:1, 4:1, 5:1, 6:1, 7:1, 8:1, 9:1, 10:1, 12:1, 15:1, 20:1, 30:1, or40:1. In some instances, a length of the central body may or may not beless than a height of the central body. A length of the central body mayor may not be greater than a height of the central body. In someinstances, a ratio of a height of the central body to the length of thecentral body h:l may be greater than or equal to about 1:10, 1:9, 1:8,1:7, 1:6, 1:5, 1:4, 1:3, 1:2, 2:3, 1:1, 3:2, 2:1, 3:1, 4:1, 5:1, 6:1,7:1, 8:1, 9:1, 10:1, 12:1, 15:1, 20:1, 30:1, or 40:1. The ratio of theheight of the central body to the length of the central body may be lessthan any of the ratio values provided, or fall within a range betweenany two of the ratio values provided. A longitudinal axis may extendalong a length of the central body. A vertical axis may extend along aheight of the central body.

The overall central body may be substantially portable. The central bodymay have a length of less than or equal to about 50 cm, 40 cm, 30 cm, 25cm, 20 cm, 17 cm, 15 cm, 14 cm, 13 cm, 12 cm, 11 cm, 10 cm, 9 cm, 8 cm,7 cm, 6 cm, 5 cm, 4 cm, 3.5 cm, 3 cm, 2.5 cm, 2 cm, 1.5 cm, 1.2 cm, 1cm, 0.7 cm, 0.5 cm, 0.3 cm, 0.1 cm, 0.05 cm, or 0.01 cm. The centralbody may have a length greater than any of the values provided herein orfalling within range between any two of the values provided herein. Thecentral body may have a height of less than or equal to about 50 cm, 40cm, 30 cm, 25 cm, 20 cm, 17 cm, 15 cm, 14 cm, 13 cm, 12 cm, 11 cm, 10cm, 9 cm, 8 cm, 7 cm, 6 cm, 5 cm, 4 cm, 3.5 cm, 3 cm, 2.5 cm, 2 cm, 1.5cm, 1.2 cm, 1 cm, 0.7 cm, 0.5 cm, 0.3 cm, 0.1 cm, 0.05 cm, or 0.01 cm.The central body may have a height greater than any of the valuesprovided herein or falling within a range between any two of the valuesprovided herein. A maximum dimension of the UAV (e.g., diagonal,diameter, length, width, or height) may be less than or equal to any ofthe measurements provided herein. The central body may have weight ofless than or equal to about 5 kg, 3 kg, 2 kg, 1.5 kg. 1.2 kg, 1 kg, 0.8kg, 0.7 kg, 0.6 kg, 0.5 kg, 0.4 kg, 0.3 kg, 0.25 kg, 0.2 kg, 0.15 kg,0.12 kg, 0.1 kg, 0.07 kg, 0.05 kg, 0.04 kg, 0.03 kg, 0.02 kg, 0.01 kg,0.005 kg, or 0.001 kg.

The central body may have any form factor. The central body may have asubstantially vertically aligned flat body. The central body may beshaped to provide less than a predetermined threshold of air resistancein a direction of flight. The central body may be shaped to provide ahigh lift to drag ratio during flight. In some embodiments, the lift todrag ratio may be greater than or equal to about 0.5, 1, 1.5, 2, 2.5, 3,4, 5, 6, 7 or 10 during normal flight. The central body may have asimilar form factor (e.g., size, or proportion of dimensions) to asmartphone, tablet, or laptop computer. The central body may have asimilar form factor to a book that is arranged vertically. The centralbody may have a substantially rectangular prism shape. The corners ofthe central body may be sharp or may be rounded. The edges and/or sidesof the central body may be sharp or may be rounded. The central body mayfit ergonomically into a hand of a user. The central body may behandheld. The central body may be configured to be held by a single handof a user. The user may easily grip the central body between a thumb andfingers. The central body may have a portable and ergonomic shape thatmay permit handheld imaging with aid of an imaging device supported bythe central body.

A lateral dimension of the central body (e.g., width, length) may besufficiently small to permit the UAV to land or takeoff from a user'shand, optionally while allowing a user's hand to grasp opposing sides ofthe central body. For instance, a user may grasp opposing sides of theUAV in the user's hand, and then may release the UAV when the UAV takesoff from the user's hand. The user may also catch a UAV that is landingand grasp the opposing sides of the UAV when it has landed.

A vertical dimension of the central body may be sufficiently large toallow the UAV to takeoff from a user's hand or land on the user's handwithout he user's hand coming into contact with one or more rotor bladeswhen the user's hand grasps opposing sides of the central body. Thevertical dimension of the central body may be greater than the length ofthe user's fingers. The vertical dimension of the central body may begreater than the length of the user's fingers coupled with a portion apalm that may fold around the central body.

In some embodiments, a UAV may primarily travel in a direction along alongitudinal axis of the UAV. During normal flight, the UAV may fly in adirection along a longitudinal axis of the UAV. The UAV may be flying ina direction of a narrow end of the central body, as opposed to a widerside surface of the central body. This may provide reduced windresistance caused by the narrow central body of the UAV. The UAV mayalso fly up and down. This may also provide reduced wind resistancecaused by the narrow central body of the UAV.

A UAV 100 may comprise one or more propulsion units that may aid inmovement of the UAV. The propulsion units may comprise one or morepropellers 130. The propulsion units may comprise one or more propellerseats 120 which may be configured to accept the one or more propellers.The propeller may or may not be detachable from the propeller seat. Thepropulsion seat may optionally comprise a shaft driven by an actuatorand configured to effect rotation of one or more propellers. Theactuator may be part of the propulsion unit. The actuator may be part ofthe propeller seat. The actuator may be supported within a housing ofthe propeller seat. The actuator may be a motor. The motor rotation maybe controlled with aid of one or more electric speed controls (ESCs).The ESCs may control motor rotation speed and/or direction. The ESCs maybe located in the propeller seat, or within the central body of the UAV.

The one or more propellers 130 may rotate to generate lift and/or thrustfor the UAV. A propeller may comprise one, two, three, four, or morerotor blades. The rotor blades may or may not extend from a hub. Therotor blades may or may not extend from a shaft or one or more pins ofthe propeller seat. In one example, multiple rotor blades may beattached to a single shaft. The rotor blade may or may not rotateindependently of one another. In another example, multiple pins may beprovided, and each pin may support an individual rotor blade. Themultiple pins may rotate about a shaft which may drive rotation of thepins and/or any support for the pins. The rotor blades may be stationaryrelative to the hub and/or one another. In some instances, the rotorblades may be movable relative to the hub and/or one another. One ormore actuators, such as one or more motors may control rotation of theone or more propellers. A motor may be coupled to a shaft that may becoupled directly or indirectly to one or more propellers. The motors maybe in communication with a controller on-board the UAV. The controllermay generate one or more flight commands that may be delivered to theone or more motors to affect rotation of the one or more propellers.Faster rotation of the propellers may generate more lift than slowerrotation of the propellers.

The propulsion units may be supported by the central body 110. Thecentral body may bear weight of the propulsion units. The propulsionunits may be directly supported by the central body. The propulsionunits may be supported by the central body without use of arms extendingfrom the central body. In some embodiments, the UAV may not comprise anypermanent arms extending away from the central body. In someembodiments, the propulsion units may be supported on a top surface ofthe central body. Alternatively or in addition, the propulsion units maybe supported on a side surface, front surface, rear surface, and/orbottom surface of the central body. The propulsion units may besupported at distal ends of the central body along a longitudinal axisof the central body, extending along the length of the central body. Thepropulsion units may be provided at or near the ends along thelongitudinal axis of the central body. The propulsion units may bewithin 1%, 3%, 5%, 10%, 15%, 20%, 25% or 30% of the end of the length ofthe central body. The propulsion units may be supported on a top surfaceof the central body at or near the distal ends of the central body. Theshafts of the propulsion units may be provided above the central body.The hubs of the propulsion units may be provided above the central body.The motors of the propulsion units may be supported above the centralbody.

Any number of propulsion units may be provided on the UAV. Any number ofpropulsion units may be directly supported by the central body. In someembodiments, one or more, two or more, three or more, four or more, fiveor more, six or more, eight or more, ten or more, or twenty or morepropulsion units may be directly supported by the central body. Thepropulsion units may be arranged in a row along a longitudinal axis ofthe central body. In one example, two propulsion units may be provided.The each propulsion unit may be at opposing distal ends along thelongitudinal axis of the central body. The UAV may be a dualcopter. Thedualcopter may have two propulsion units. In some embodiments, adualcopter may advantageously permit controlled and stable flight of theUAV by controlling the rotation angle and rotation speed of the motorsand propellers, where rotation angle can be controlled by a servo motorand the rotation speed can be controlled by an electronic speed control.This may provide advantages over a quadcopter, which may rely purely onthe rotational speed of the motors to control attitude and speed of theUAV, but has a relatively short flight time. The dualcopter as providedmay provide an increased flight time over the quadcopter. The dualcoptermay also provide advantages over a helicopter which has a primarypropeller using a complex swashplate to tilt in various directions and asecondary propeller for counterbalancing the torque of the primarypropeller, which results in a very complex structure. The dualcopter mayprovide a simplified structure that may provide stable flight, relativeto the helicopter. The dualcopter may also provide a simplifiedstructure that may allow the UAV to quickly and simply takeoff and/orland without requiring any folding, expanding, and/or compacting steps.

In some embodiments, an orientation of one or more propulsion units maybe adjustable relative to the central body. The orientation of the oneor more propulsion units may be manually adjusted, or may be adjustedwith aid of one or more actuators 140. The one or more actuators may bea motor, such as a servomotor or stepper motor. The orientation of theone or more propulsion units may be adjustable by permitting rotation ofthe one or more propulsion units around one, two, three, or more axes.In one example, at least one propulsion unit may be capable of rotatingabout a longitudinal axis extending along a length of the central body.In another example, at least one propulsion unit may be capable ofrotation about two orthogonal axes or three orthogonal axes. One or moreof the orthogonal axes may be a longitudinal axis extending along alength of the central body. One or more of the orthogonal axes may be avertical axis extending along a height of the central body. One or moreof the orthogonal axes may be a width axis extending along a width ofthe central body.

The adjustment of the orientation of the propulsion units may permitimproved flight performance. In some embodiments, adjustment of theorientation of the propulsion units may be provided to counteractexternal disturbance forces. Orientation of one or more propulsion unitsmay occur to provide improved maneuverability of the UAV. In someinstances, one or more propulsion units may be adjusted to tilt thecentral body to utilize lift forces generated from wind. One or morepropulsion units may be adjusted to cause a UAV to change between aright-side up flying mode and an upside down flying mode.

Additionally or alternatively to adjusting an orientation of apropulsion unit relative to the central body, one or more actuators maybe configured to cause at least one of the propulsion units to move in atranslational manner relative to the central body.

In some embodiments, one or more actuators 140 may be positioned on orin a central body 110. The actuator may cause movement of a propellersupport 150. For example, the actuator may rotate, which may causecorresponding rotation of the propeller support. The propeller supportmay support a propulsion unit, such as a propeller seat 120 and/orpropeller 130. The propeller support may bear weight of the propulsionunit. When the propeller support rotates or moves in any other manner,the propulsion unit may make corresponding movements. For example, ifthe propeller support rotates about a longitudinal axis in response tothe rotation of the actuator, the propulsion unit may correspondinglyrotate about a longitudinal axis. The rotational axis may or may notintersect the propulsion unit. The rotational axis may or may notintersect the propeller support. The rotational axis may or may notintersect a propeller seat. The rotational axis may or may not intersectthe propeller itself.

The one or more actuators may control the orientation and/ortranslational position of the propulsion units relative to the centralbody in response to one or more commands. The one or more commands maybe generated with aid of a flight controller on-board the UAV. The UAVmay have multiple sets of actuators that may be controlled by a flightcontroller on-board the UAV. A first set of actuators may controlrotation of the propellers relative to the propeller seat. A second setof actuators may control rotation of the propulsion units relative tothe central body. The axes of rotation of the first set of actuators maybe orthogonal to the axes of rotation of the second set of actuators.The rotation effected by the second set of actuators may cause change inthe orientation of the axes of rotation of the first set of actuators.The orientation of the propulsion units may be adjusted during flight ofthe UAV. The orientation of the propulsion units may be controlled inreal-time as needed to execute the desired flight maneuver.

The orientation of the propulsion units may be controlled independentlyof one another. For example, if two propulsion units are provided, theirangle relative to the central body may be controlled independently ofone another. Alternatively or in addition, the orientation of thepropulsion units may be controlled together. In some embodiments,orientation of the propulsion units may be maintained relative to oneanother so that they have the same angle relative to the central body.In some instances, the one or more rotor blades may remain parallel toone another as the orientation of the propulsion units may becontrolled. In some instances, the one or more rotor blades may be me atoblique angles relative to one another.

The UAV may optionally support a load 160. The load may or may notcomprise one or more carriers (e.g., gimbals). The carriers may be partof the movable object or may be separate from the movable object. Thecarriers may be mechanically and/or electrically connected to themovable object. A controller of the UAV or separate from the controllerof the UAV may issue one or more commands that may affect operation ofthe carriers. In some embodiments, the load may comprise a payload. Insome instances, a load may comprise a payload without requiring acarrier. The payload may be fixed relative to the central body or may bemovable relative to the central body with or without aid of a carrier.

One or more carriers may each support one or more payloads. In someembodiments, each carrier may support a payload. The carrier may bearweight of the corresponding payload. The carrier may control spatialdisposition of the payload. The carrier may control orientation of thepayload with respect to the movable object. The carrier may controlorientation of the payload about one axis, two axes, or three axes, withrespect to the movable object. The carrier may permit rotation of thepayload about one axis, two axes, or three axes, with respect to themovable object. The axes may be orthogonal to one another. The axes maycomprise a yaw axis, pitch axis, and/or roll axis of a payload supportedby the corresponding carrier. The carrier may control a rotational angleof the payload with respect to a yaw axis alone, pitch axis alone, rollaxis alone, yaw and pitch axis, pitch and roll axis, roll and yaw axis,or a yaw axis, pitch axis, and roll axis.

Each carrier may be a gimbal. The gimbal may be a one-axis gimbal,two-axis gimbal, or three-axis gimbal. The gimbal may comprise a frameassembly and a motor assembly. The frame assembly may comprise one ormore frame components that may rotate relative to one another and/or themovable object. In one example, a gimbal assembly may comprise a firstframe component that may support the payload. The payload may rotaterelative to the first frame component or may rotate relative to thefirst frame component. The first frame component may be directlyconnected to the platform, or may be supported by a second framecomponent. The first frame component may rotate relative to the secondframe component. The second frame component may bear weight of the firstframe component. The second frame component may be directly connected tothe platform, or may be supported by a third frame component. The thirdframe component may bear weight of the second frame component. Thesecond frame component may rotate relative to the third frame component.The third frame component may bear weight of the second frame component.Any number of additional frame components may be presented.

The motor assembly may permit the frame assemblies to rotate relative toone another. For example, a first motor may permit a first frameassembly to rotate relative to the second frame assembly. A second motormay permit a second frame assembly to rotate relative to the third frameassembly. A third motor may permit a third frame assembly to rotaterelative to the platform. Any number of motors may be provided. Forinstance, one or more, two or more, three or more, four or more, five ormore, six or more, or seven or more motors may be employed.

The gimbal may comprise one or more sensors that may detect dispositionand/or movement of one or more components of the gimbal. For example,the one or more sensors may be disposed on the frame assembly and/or oneor more sensors may be disposed on the motor assembly. One or moresensors may be disposed on a first frame component, second framecomponent, and/or third frame component. One or more sensors may bedisposed on or incorporated into a first motor, second motor, and/orthird motor. One or more sensors may be disposed on the payload itself.One or more sensors may be disposed on the movable object. The one ormore sensors may comprise inertial sensors. Inertial sensors maycomprise, but are not limited to, accelerometers, gyroscopes,magnetometers, or gravity-based sensors. The inertial sensors may detectan orientation of the respective component on which it is disposed withrespect to one axis, two axes, or three axes. The inertial sensors maydetect movement of the respective component, such as linear velocity,angular velocity, linear acceleration, and/or angular acceleration ofthe respective component. The inertial sensors may be useful fordetecting how a payload is oriented relative to the movable object or aninertial reference frame (e.g., the environment). The inertial sensorsmay be useful for detecting how a payload is moving relative to themovable object or an inertial reference frame. The inertial sensors maybe useful for detecting how a respective component by which it issupported is oriented relative to the movable object or an inertialreference frame. The inertial sensors may be useful for detecting how arespective component by which it is supported is moving relative to themovable object or an inertial reference frame.

The load may comprise a payload. The load may comprise a payload withouta carrier, or may comprise a carrier and a payload. The payload maycomprise one or more sensors. Any sensor suitable for collectingenvironmental information can be used, including location sensors (e.g.,global positioning system (GPS) sensors, mobile device transmittersenabling location triangulation), vision sensors (e.g., imaging devicescapable of detecting visible, infrared, or ultraviolet light, such ascameras), proximity sensors (e.g., ultrasonic sensors, lidar,time-of-flight cameras), inertial sensors (e.g., accelerometers,gyroscopes, inertial measurement units (IMUs)), altitude sensors,pressure sensors (e.g., barometers), audio sensors (e.g., microphones)or field sensors (e.g., magnetometers, electromagnetic sensors). Anysuitable number and combination of sensors can be used, such as one,two, three, four, five, or more sensors. Optionally, the data can bereceived from sensors of different types (e.g., two, three, four, five,or more types). Sensors of different types may measure different typesof signals or information (e.g., position, orientation, velocity,acceleration, proximity, pressure, etc.) and/or utilize different typesof measurement techniques to obtain data. For instance, the sensors mayinclude any suitable combination of active sensors (e.g., sensors thatgenerate and measure energy from their own source) and passive sensors(e.g., sensors that detect available energy).

In one example, the payload may be an imaging device. An imaging devicemay be a physical imaging device. An imaging device can be configured todetect electromagnetic radiation (e.g., visible, infrared, and/orultraviolet light) and generate image data based on the detectedelectromagnetic radiation. In some embodiments, a payload may be acamera. The payload may be a camera that images an environment anywherealong an electromagnetic spectrum. For example, the payload may be avisible light camera. The payload may be an infrared camera. The payloadmay be an ultraviolet camera. The camera may be a night-vision camera.The payload may be a camera that may sense and visualize vibrations,sounds, reflected light, radiation, or any other condition of theenvironment that may be visualized.

An imaging device may include a charge-coupled device (CCD) sensor or acomplementary metal-oxide-semiconductor (CMOS) sensor that generateselectrical signals in response to wavelengths of light. The resultantelectrical signals can be processed to produce image data. The imagedata generated by an imaging device can include one or more images,which may be static images (e.g., photographs), dynamic images (e.g.,video), or suitable combinations thereof. The image data can bepolychromatic (e.g., RGB, CMYK, HSV) or monochromatic (e.g., grayscale,black-and-white, sepia). The imaging device may include a lensconfigured to direct light onto an image sensor. The UAV may be used foraerial photography with aid of the payload.

In some embodiments, the imaging device can be a camera. A camera can bea movie or video camera that captures dynamic image data (e.g., video).A camera can be a still camera that captures static images (e.g.,photographs). A camera may capture both dynamic image data and staticimages. A camera may switch between capturing dynamic image data andstatic images. Although certain embodiments provided herein aredescribed in the context of cameras, it shall be understood that thepresent disclosure can be applied to any suitable imaging device, andany description herein relating to cameras can also be applied to anysuitable imaging device, and any description herein relating to camerascan also be applied to other types of imaging devices. A camera can beused to generate 2D images of a 3D scene (e.g., an environment, one ormore objects, etc.). The images generated by the camera can representthe projection of the 3D scene onto a 2D image plane. Accordingly, eachpoint in the 2D image corresponds to a 3D spatial coordinate in thescene. The camera may comprise optical elements (e.g., lens, mirrors,filters, etc). The camera may capture color images, greyscale image,infrared images, and the like. The camera may be a thermal imagingdevice when it is configured to capture infrared images.

The payload may make an emission into the environment. For example, thepayload may comprise a microphone that may emit sound into theenvironment. The payload may comprise a light source that may emit alight into the environment. The emission may be directed. For example,having a UAV with multiple gimbals may be useful when one of thepayloads is a light source and another payload is a visible lightcamera, particularly when the UAV is flying in the night or within anarea with low lighting (e.g., indoors, caves, cave-ins, etc.).

The payload may permit interaction with the environment. For example,the payload may comprise a robotic arm. The robotic arm may be capableof gripping and/or picking up objects. Having a UAV with multiplegimbals may be useful when one of the payloads is a camera and the otherpayload is a robotic arm, particularly when the UAV is flying andinteracting with an environment. The camera may detect an object for theUAV to pick up. This may be particularly useful in sample-collectionapplications where the UAV with multiple gimbals may expand the range ofcollection. In another example, the payload may be a delivery systemthat may spray objects, such as pesticides or water where needed.

The UAV may be useful for aerial photography and/or handheldphotography. A payload, such as a camera, may be configured to captureimages while the UAV is in flight, and while the UAV is grasped within auser's hand (or supported by an extension held by the user's hand).

The load may or may not be detachable from the UAV. The load may becontrolled automatically in response to one or more commands generatedby one or more processors on-board the UAV. The one or more processorsmay be provided within the central body. The one or more processors maybe part of a flight controller or may be in communication with a flightcontroller. The carrier and/or the payload may be controlled in responseto the one or more commands from the processors on-board the UAV. Insome embodiments, the load may be controlled in response to one or morecommands provided by a remote terminal to the UAV. The remote terminalmay be configured to accept a user input that may generate the one ormore commands to control the load. The carrier and/or payload in may becontrolled in response to user input at a remote terminal. The remoteterminal may control both flight of the UAV and the load of the UAV.Alternatively, different remote terminals may be used to control theflight of the UAV and the load of the UAV.

FIG. 2 shows an example of a UAV with a possible internal layout, inaccordance with embodiments of the disclosure. A UAV 200 may compriseone or more modules or components. Such arrangement is provided by wayof example, and is not limiting.

The UAV may comprise a camera module 201. The camera module may beprovided on-board a central body of the UAV. The camera module may beintegrated into the central body of the UAV, permanently attached to thecentral body, or may be removably attached to the central body. Thecamera module may have a compact size and/or shape. The camera modulemay be less than 1 cm³, 2 cm³, 3 cm³, 4 cm³, 5 cm³, 6 cm³, 7 cm³, 8 cm³,9 cm³, 10 cm³, 12 cm³, or 15 cm³ in volume. The camera module may beattached to the central body in a seamless manner. The camera module mayoptionally not protrude significantly from the central body. The cameramodule may be integrated along the contours of the central body. Thismay reduce wind resistance effects and/or reduce likelihood that thecamera module may become damaged. This may also provide increasedflexibility with landing gear formats since the camera module will notextend out significantly (protruding camera modules may require landinggear to elevate the camera module off a surface when the UAV is not inflight).

The camera module may comprise a payload, such as a camera, or any othertype of payload as described elsewhere herein. The camera module maycomprise a carrier, such as a gimbal, as described elsewhere herein. Thegimbal may be a one-axis gimbal, two-axis gimbal, or three-axis gimbal.The payload may be supported by the carrier. The carrier may be used tocontrol the orientation of the payload relative to the central body. Forinstance, the carrier may be used to control the orientation of a camerarelative to the central body.

The UAV may comprise one or more obstacle avoidance sensors 202. The oneor more obstacle avoidance sensors may comprise one or more differenttypes of sensors. The obstacle avoidance sensors may comprise any of thetypes of sensors, as described elsewhere herein. The obstacle avoidancesensors may be capable of detecting one or more obstacles within a givenrange of the UAV. The obstacle avoidance sensors may be capable ofdetecting physical obstacles within a given distance and/or angle ofview. For instance, the obstacle avoidance sensors may be able to detectphysical obstacles early enough to provide UAVs with sufficient timetake avoidance measures. The obstacle avoidance sensors may be capableof detecting objects within 500 m, 400 m, 300 m, 200 m, 150 m, 100 m, 90m, 80 m, 70 m, 60 m, 50 m, 40 m, 30 m, 20 m, 15 m, 10 m, 5 m, or 1 m ofthe UAV.

The obstacle avoidance sensors may be placed at one or more, two ormore, three or more, four or more, five or more, ten or more, or twentyor more different locations on the UAV. For instance, the obstacleavoidance sensors may be provided at opposing ends of the UAV centralbody. In some instances, the obstacle avoidance sensor may be providedon opposing sides of the UAV central body. The obstacle avoidancesensors may be provided on a top surface and/or bottom surface of theUAV. The obstacle avoidance sensors may be capable of detectingobstacles within at least a 90 degree range, 180 degree range, 270degree range, or 360 degree range horizontally around the UAV. Theobstacle avoidance sensors may be capable of detecting obstacles withinat least a 90 degree range, 180 degree range, 270 degree range, or 360degree range vertically around the UAV.

The obstacle avoidance sensors may be integrated into the central bodyof the UAV, permanently attached to the central body, or may beremovably attached to the central body. The obstacle avoidance sensorsmay be static relative to the central body or may be movable relative tothe central body. Based on data collected by the obstacle avoidancesensors, the UAV may be able to take obstacle avoidance maneuvers. TheUAV may automatically take obstacle avoidance maneuvers withoutrequiring any input from a user.

The UAV may comprise one or more propeller seats 203. A propeller seatmay comprise a motor configured to drive rotation of one or morepropellers 204. The motor may be coupled to a shaft. Rotation of themotor may cause rotation of the shaft. The rotation of the shaft maycause rotation of one or more propellers. The propellers may or may notbe detachable from the shaft. In some embodiments, each motor of the UAVmay drive one or more propellers. The motors on the UAV may rotate inthe same direction or may rotate in different directions. In someinstances, the same number of motors may be rotating in a firstdirection, as the number of motors rotating in the second directiondifferent from the first direction. In one example, two motors may beprovided for driving rotation of the propellers. A first motor mayrotate in a clockwise direction and a second motor may rotate in acounterclockwise direction. The corresponding propellers may rotate in aclockwise direction and a counterclockwise direction. This may allowoffset of torque generated by the propeller rotation and permit stableflight. The speed of rotation of the motors and/or the correspondingpropellers may be independently controlled. For instance, a speed ofrotor blades of a first propulsion unit may be independent of a speed ofrotation of the rotor blades of a second propulsion unit.

The propellers 204 may comprise one or more blades. The one or moreblades may optionally be fixed to a hub. The propeller may be directlyor indirectly coupled to a shaft. In some instances one or more adaptersor intermediary mechanisms may be provided between the propellers andthe shaft. The blades of the propeller may or may not be foldable.

The orientation of the motors and/or propellers relative to the centralbody may be adjustable. In some embodiments, one or more actuators 205may be provided that may control the orientation of the propeller seats(e.g., motors) and/or propellers relative to the central body. Theactuators may be servomotors or other types of actuators that maycontrol rotation of the propeller seats and/or propellers about one ormore axes. For instance, the actuators may be oriented to cause thepropeller seats and/or propellers to rotate about a longitudinal axis ofthe UAV.

In some embodiments, orientation of each propeller seat and/or propellermay be controlled by a respective actuator. For instance, a firstactuator may maintain and/or vary orientation of a first propeller seatand first propeller, while a second actuator may maintain and/or varyorientation of a second propeller seat and a second propeller. Theorientations of each propeller seat and corresponding propeller may beindependently controlled from one another. Alternatively, they may becontrolled together. For instance, they may be controlled to have thesame orientation. In some embodiments, a single actuator may controlorientation of multiple propeller seats and corresponding propellers.

Orientation of the propulsion units (e.g., propellers, motors, and/orpropeller seats) may be controlled by controlling an aileron or otherpneumatic curved surface. The control of the orientation based on thesurface shape may be provided in addition to, or an alternative to,control by actuators.

A UAV may also comprise one or more additional sensors 206. Theadditional sensor may be a location sensor, such as a GPS sensor. Theone or more additional sensors may comprise one or more obstacleavoidance sensors. The sensor may be positioned at or near a top surfaceof the UAV. In some embodiments, it may be advantageous to providelocation sensors at or near a top surface of the UAV to aid incollection of signals from objects, such as satellites.

Additional, a UAV may also comprise a downward facing positioning system207. The downward facing positioning system may comprise one or moresensors. The one or more sensors may be any type of sensors, such asthose described elsewhere herein. In some instances, the one or moresensors may comprise multiple types of sensors. For instance, the one ormore sensors may comprise vision sensors, infrared sensors, ultrasonicsensors, lidar, and/or any other type of sensors.

The downward facing positioning system may be useful for automaticrecognition of landing surfaces. The landing surface may be a ground,structure (e.g., building, wall, roof, table, pole, fence, landing pad,etc.), and/or a body part of the user (e.g., user's hand). Thepositioning system may be useful for recognizing type and/or positioningof the landing surface. The data from the positioning system may beprovided to a flight controller.

The flight controller may issue commands to the motors that controlrotation of the propellers and/or actuators that control orientation ofthe propellers. The flight controller may issue commands based oninformation from one or more sensors, such as the obstacle avoidancesensors, location sensors, and/or downward facing positioning system. Insome instances, the data from the downward facing positioning system maybe used to control flight of the UAV to land at a desire position on thelanding surface. For example, the system may aid in guiding the UAV toland on a user's hand.

A power source 208, such as a battery, may be provided on-board the UAV.The battery may be provided on or in the central body of the UAV. Thebattery may or may not be removable from the central body of the UAV.The battery may be rechargeable. The battery may be recharged whileon-board the UAV. Alternatively or in addition, the battery may berecharged when removed from the UAV, and then returned back into theUAV.

The power source may provide power for one or more components of theUAV. For instance, the power source may provide power to a cameramodule, one or more sensors (e.g., obstacle avoidance sensors, locationsensors, downward facing positioning system), one or more actuators(e.g., motors that control rotation of the propeller, motors thatcontrol orientation of the propellers), communication systems,navigation systems, flight controller, or any other components of theUAV.

In some embodiments, the UAV may be capable of flying for at least 5minutes, 10 minutes, 15 minutes, 20 minutes, 30 minutes, 45 minutes, 1hour, 1.5 hours, 2 hours, 3 hours, 4 hours, 5 hours, 6 hours, or 10hours on a single charge of the power source. The configuration of thecentral body may aid in reduction of drag forces, which may save energy,and provide an extended flight time off a single charge.

A UAV may comprise a communication unit 209. The communication unit maybe a near field communication (NFC) patch. When a mobile device, such asa smartphone, having an NFC chip comes into contact with the patch,communication can be established automatically with the UAV. A user caninteract with the UAV through the mobile device. For example, a user canopen a mobile application on the mobile device, and control the UAVthrough the mobile application. The user may or may not also be able tocontrol the payload of the UAV (e.g., camera) of the UAV through themobile application. For instance, the user may or may not be able tocontrol movement of the camera relative to the UAV central body.

An antenna 210, such as a vertical-type antenna, may be providedon-board the UAV. The antenna may be able to receive and/or sendomnidirectional signals. Alternatively, the antenna may be a directionalantenna that may receive and/or send stronger signals in a particulardirection compared to other directions. The antenna may have a longtransmission distance. The antenna may allow the UAV to communicatedirectly with the user device, such as the mobile device with the mobileapplication. Alternatively, indirect communications may be providedbetween the UAV and the user device.

Optionally, a UAV may comprise a housing 211. The housing may beprovided for the central body. The housing may partially or completelyenclose one or more components of the UAV, such as any of the componentsdescribed elsewhere herein. The housing may be formed from a singlepiece or multiple pieces. Multiple pieces of the housing may or may notbe separable. In some instances, the housing may comprise a door oropening that may allow a user to access one or more components withinthe housing. The user may or may not remove a component of the UAV fromthe housing.

The UAV may comprise one or more processors that may execute code, logicor instructions for performing one or more steps. The one or moreprocessors may receive information from one or more components on-boardthe UAV and/or one or more devices off-board the UAV. For instance, oneor sensors, modules, payloads, carriers, actuators, motors, powersources, and/or communication units may provide information to one ormore processors of the UAV. One or more remote terminals may provideinformation that may be received by the UAV and ultimately received byone or more processors of the UAV. The one or more processors maygenerate one or more sets of instructions or commands for one or morecomponents of the UAV. For instance, commands may be sent to one or moremotors controlling rotation of propellers of the UAV, one or moreactuators controlling orientation of one or more propellers of the UAV,one or more carriers that may affect orientation of a payload of theUAV, one or more payloads that may affect operation of the payload, oneor more sensors that may affect operation of the sensors, and/or one ormore communication units which may effect operation of the communicationunit or data sent via the communication unit. The commands may begenerated based on information received. One or more processors mayfunction as a flight controller, load controller, or any combinationthereof.

The UAV may comprise one or more memory storage units comprisingnon-transitory computer readable media comprising code, logic orinstructions for performing one or more steps.

FIG. 3 shows examples of wind effects on UAVs, in accordance withembodiments of the disclosure. The UAV may be configured with a narrowcentral body that may reduce undesirable effects of wind on the UAV.

View A shows an example of a traditional quadcopter 300 as well as anexample of a UAV 310 with a narrow body, as provided herein. Duringflight of the quadcopter, the widespread footprint of the quadcopterprovides a large degree of wind resistance. For example, when thequadcopter is rising into the air, the widespread body of the quadcoptermay cause a significant amount of wind resistance, which may provideincreased drag and take up more energy for the quadcopter to fly.Similarly, when the quadcopter is going forwards and backwards, there isstill a large lateral footprint which may also result in a large degreeof wind resistance and energy usage to counteract the wind resistance.

During flight of the narrow body UAV 310, the effects of wind resistancemay be reduced. For instance, when the UAV is rising into the air, thenarrow body provides a reduced surface area that may be in the directionof flight. The narrow body may also reduce obstruction of downwardairflow generated by the rotor blades. Similarly, when the narrow bodyUAV is flying forwards or backwards, the volume of area facing the windis small. The UAV may primarily fly forwards or backwards in a directionalong a longitudinal axis of the UAV. The UAV may primarily fly forwardsor backwards in a direction that causes the propulsion units directlysupported by the UAV to be in front and behind one another (e.g.,aligned in the direction of travel). Thus, the reduced wind resistanceexperienced by the UAV with the narrow body may permit longer flighttime of the UAV.

A narrow body UAV may experience less wind resistance than a quadcopter.The narrow body UAV may experience less wind resistance when flying in avertical direction than a quadcopter. The narrow body UAV may experienceless wind resistance when flying forwards or backwards than aquadcopter. The wind resistance experienced by the narrow body UAV maybe less than the wind resistance experienced by the quadcopter pervolume. The wind resistance experienced by the narrow body UAV may beless than the wind resistance experienced by the quadcopter per weight.

View B shows an example of airfoil-type effects that may be experiencedby a UAV. A traditional quadcopter 300 may operate as a negative-typeairfoil, which may generate downward pressure. This may cause thequadcopter to expend a greater amount of energy to remain in flight.

A narrow body UAV 310 may operate as a positive-type airfoil. This mayallow generation of a lifting force that may aid in UAV flight, andreduce the amount of energy required by the UAV during flight. Whenperforming side flight, the narrow body UAV may generate an airfoil inthe positive direction, which generates a lifting force similar to alifting body. The motor's load can be reduced and flight time may beimproved. In some embodiments, depending on wind conditions, the UAV mayfly forwards and backwards to reduce wind resistance. When the windconditions are favorable to the UAV acting as an airfoil, the UAV mayturn so that the UAV may perform side flight, allowing the broader sideof the UAV to catch the wind. The UAV may carry one or more sensorscapable of detecting when wind conditions are suitable for side flightvs. front to back flight. The UAV may carry one or more sensors capableof detecting an updraft. The UAV may carry one or more sensors capableof detecting the direction and/or strength of wind.

FIG. 4 shows an example of a UAV with airfoil attachments, in accordancewith embodiments of the disclosure. A UAV 400 may comprise a centralbody 410 and one or more propulsion units 420. One or more airfoilattachments 430 may be attached to the central body.

The central body 410 may be a narrow central body. The central body mayhave any configuration as described elsewhere herein. The one or morepropulsion units 420 may be directly coupled to the central body. Theone or more propulsion units may be supported by the central bodywithout the use of any arms extending away from the central body. Insome instances, the propulsion units may be provided on a top surface ofthe central body. The propulsion units may comprise propellers that mayrotate to generate lift for the UAV.

One or more airfoil attachments 430 may be attached to the UAV. The oneor more airfoil attachments may be attached to the central body of theUAV. In some embodiments, the one or more airfoil attachments may beattached at a front end and/or back end of the central body. Optionally,two or more airfoil attachments may be provided. In one example, twoairfoils may be provided at the distal ends of the central body. Theairfoil attachments may be provided along a longitudinal axis of thecentral body. The airfoil attachments may be aligned with the propellersthat are provided along a longitudinal axis of the central body. Theairfoil attachments may provide an increased surface area that mayutilize lift forces when the UAV is performing side flight.

The airfoil attachments may be removably attached to the UAV. Forinstance, a user may attach and/or detach the airfoil attachments. Auser many manually attach of detach the airfoil attachments to the UAV.The airfoil attachments may be secured to the central body of the UAV,so that the airfoil attachments do not come off during flight of theUAV. In some instances, one or more locking mechanisms may be employedto attach the airfoil attachments to the UAV. In some embodiments, auser may be required to actively engage an unlocking mechanism to causethe airfoil attachments to be detached from the UAV. In someembodiments, one or more sensors of the UAV may detect when an airfoilis attached to the UAV. A UAV may enter a fixed wing flying mode whenthe airfoils are attached. The flight control of the UAV may utilizedifferent sets of instructions when in fixed wing flying mode versusregular flying mode. Alternatively, there may be no sensors to detectwhether the airfoil attachments are included or not. The UAV may or maynot be controlled differently when the airfoil attachments are provided.

The airfoil attachments may have any shape. The airfoil attachments mayhave a wing shape. The airfoil shape may generate lift for the UAV asthe UAV flies. In some instances, the airfoil may have a substantiallycurved profile. The ends of the airfoil may or may not be curved. Theairfoil may or may not comprise one or more aileron. The airfoil may ormay not comprise one or more wing flaps. The central body may comprise aplanar surface and the one or more airfoil attachments may besubstantially parallel to the planar surface. The central body maycomprise a planar surface and a flying direction of the UAV may extendoutwards from the planar surface. For instance, a flying direction ofthe UAV may be substantially to a side of the UAV. This may be due tothe combined effects of rotation of the propellers and lift generated onthe central body and/or airfoil attachments.

The angles of the airfoil attachments relative to the central body maybe substantially fixed. For example, the surfaces of the sides of thecentral body may be substantially parallel to and/or follow the contourof the airfoil surfaces.

In some instances, the airfoil attachments may be movable relative tothe central body. For instance, the airfoil attachments may rotate aboutone, two, three or more axes relative to the central body. In someembodiments, the airfoil attachments may rotate about a longitudinalaxis extending along a length of the UAV. The airfoil attachments may ormay not rotate about a vertical axis extending along a height of theUAV. The airfoil attachments may rotate together, or may rotateindependently of one another. In some embodiments, the airfoilattachments may be rotated to provide a desired lift effect, based on anangle that the UAV is traveling at. The airfoil attachments may berotated with aid of one or more actuators. The actuators may receive oneor more commands from a flight controller. The airfoil attachments maybe rotated during flight of the UAV. The airfoil attachment positionsmay be adjusted in real-time to provide desired effects. For instance,orientation of the one or more airfoil attachments may be adjustedduring flight to generate an increased lift force from airflow.

Optionally, one or more airfoils may move relative to the central body.The airfoil attachments may rotate without aid of actuators. In someinstances, the airfoils or portions thereof may be movable (e.g.,rotatable) relative to the body in response to the forces of the windexperienced.

In some embodiments, when a UAV has airfoil attachments providedthereon, the UAV may function similarly to a vertical take-off andlanding aircraft (VTOL). The airfoil attachments may improve liftingforce and battery time. The attachments may increase the positive effectof the central body when it acts as an airfoil, which may improvelifting force and extending flight time. For instance, when the UAV isrising vertically, the airfoil attachments may provide little windresistance or drag. When the UAV is flying sideways, the central bodyand the airfoil attachments may serve as airfoils, providing lift to theUAV.

FIG. 5 shows an example of a UAV with foldable propellers, in accordancewith embodiments of the disclosure. A UAV 500 may have a similar size ordimensions to a mobile device, such as a smartphone 505. In someinstances, the UAV may have a similar size or dimensions to a tablet.Optionally, the UAV may have larger dimensions but similar proportions.For instance, the UAV may have similar dimensions or proportions to alaptop computer. The UAV may have a similar configuration to a cellphonethat is arranged vertically on one of its sides. The central body of theUAV may be flag and its size may be similar to a mobile device. The UAVmay be put into a pocket for easy storage. The UAV may provide compactstorage without requiring any folding or manipulations of arms of theUAV.

The UAV may comprise a central body 510. The central body may be anarrow central body, having any of the characteristics as describedelsewhere herein. The UAV may comprise one or more propulsion units. Apropulsion unit may comprise a propeller seat 520 and/or one or morepropeller blades 530. The propulsion units may have any arrangementrelative to the central body, as described elsewhere herein. Thepropulsion units may or may not be rotatable relative to the centralbody.

A propulsion unit may comprise one or more propeller blades 530. In someinstances, a propulsion unit may comprise one or more, two or more,three or more, four or more, five or more, six or more, seven or more,eight or more, ten or more, fifteen or more, or twenty or more blades.The propeller blades may or may not be detachable from the UAV. Thepropeller blades may or may not be detachable from a shaft of the UAV.

The propeller blades may be fixed relative to one another. The propellerblades may be fixed relative to the shaft. Alternatively, the propellerblades may be movable relative to one another. The propeller blades maybe movable relative to the shaft. In some embodiments, a user maymanually manipulate the propeller blades to adjust their positionrelative to one another. The propeller blades may be foldable. A usermay manually fold the propeller blades. In some instances, a user mayfold the propeller blades for easy storage. Folding propeller bladesinwards, as shown on the left side of FIG. 5, provides a more compactconfiguration. The user may fold the propeller blades and store the UAVin the user's pocket or bag. In some instances, the propeller blades mayautomatically fold when the UAV has landed or when the UAV is poweredoff.

The propeller blades may unfold for flight of the UAV. In someinstances, a user may manually unfold the propeller blades when the useris about to use the UAV for flight. In other instances, the propellerblades may unfold on their own due to centrifugal force when the shaftssupporting the blades start rotating. In other instances, the propellerblades may automatically unfold with aid of one or more actuator. Thepropeller blades may automatically unfold when the UAV is preparing totakeoff. The foldable propeller (e.g., rotor) blades may be folded intoa compact configuration when the UAV is not in use and may be in anextended configuration during flight of the UAV.

In some embodiments, a range of the propeller blades of a firstpropulsion unit may not overlap with a range of the propeller blades ofa second propulsion unit. Thus, when the propeller blades are rotating,the areas covered within the rotation may not intersect one another.This may prevent the propeller blades from running into one anotherduring flight of the UAV. This may prevent the propeller blades fromdifferent propulsion units from running into one another, regardless ofspeed or orientation of the propeller blades. The distance between theshafts of the first propulsion unit and the second propulsion unit maybe greater than the length of the blades of the first propulsion unitplus the length of the blades of the second propulsion unit.

In other embodiments, a range of the propeller blades of a firstpropulsion unit may overlap with a range of the propeller blades of asecond propulsion unit. When the propeller blades are rotating, theareas covered within the rotation may intersect one another. Therotation of the rotor blades of the first propulsion unit and therotation of the rotor blades of the second propulsion unit may becontrolled so that the rotor blades from the different propulsion unitsdo not collide with one another. In some instances, this may requiresome coordination in controlling the first and second propulsion units.The distance between the shafts of the first propulsion unit and thesecond propulsion unit may be less than the length of the blades of thefirst propulsion unit plus the length of the blades of the secondpropulsion unit. This configuration may allow a reduced central bodysize for a given propeller size.

In some instances, the rotor blades may be detachable from the UAV. Therotor blades may be exchangeable with other types of rotor blades withdifferent physical parameters.

FIG. 6 shows an example of a UAV with multiple mounting sites, and anextension that can be attached or detached from the multiple mountingsites, in accordance with embodiments of the disclosure. The UAV 600 maycomprise a central body 610. The central body may have anycharacteristics as described elsewhere herein. The UAV may comprise oneor more propulsion units, which may comprise a propeller seat 620 and/orpropeller blades 630. The propulsion units may have any characteristicsas described elsewhere herein.

The UAV 600 may comprise one or more mounting sites 640. The one or moremounting sites may be provided on any portion of the UAV. For instance,the mounting sites may be provided on a central body of the UAV. In someembodiments, the mounting sites may be provided on a top surface and/orbottom surface of the central body. Optionally, the mounting sites maybe provided on a side surface of the central body, and/or a front end orback end of the central body. The one or more mounting sites may or maynot be provided on one or more propulsion units of the UAV.

In some embodiments, the UAV may have multiple mounting sites. The UAVmay have two or more, three or more, four or more, five or more, six ormore, eight or more, or ten or more mounting sites. The mounting sitesmay be provided on the same side or different sides of the UAV. In someinstances, the mounting sites may be provided on opposing sides of theUAV. For instance, the mounting sites may be provided on a top surfaceand a bottom surface of the UAV.

Each of the mounting sites may have the same configuration.Alternatively, one or more of the mounting sites may have a differentconfiguration. Each of the mounting sites may receive the same extension650. Alternatively, one or more of the mounting sites may receivedifferent extensions. The mounting site may permit mechanical connectionbetween the UAV and the extension. In some instances, the mounting sitemay allow the extension to be attached to the UAV in a manner where theextension is secured to the UAV and does not come off during flight ofthe UAV. In some instances, the extension may be attached to the UAV ina manner where the extension does not come off the UAV without manualmanipulation by the user. The extension may lock to the UAV centralbody. The extension may be removably attached to the UAV via themounting site. In some embodiments the extension may be attached to theUAV (e.g., central body of the UAV) via one, two, three, or more simplemotions (e.g., popping the extension onto the UAV, rotating or twistingthe extension onto the UAV, depressing a button, sliding the extensioninto a slot or track, flipping a switch or clamp, etc.). The extensionmay be detached from the UAV via one, two, three, or more simplemotions. The extension may be attached and/or detached from the UAV viafive or fewer, four or fewer, three or fewer, two or fewer, or one orfewer simple motions. The extension may be attached and/or detached fromthe UAV with aid of a quick-release assembly. The user may or may notmake a locking motion and/or unlocking motion when attaching anddetaching the extension, respectively.

The mounting site may or may not provide electrical connection betweenthe extension and UAV. For instance, power and/or data may flow from theUAV to the extension that is attached to the UAV. Power and/or data mayor may not flow from the extension to the UAV. The mounting site maycomprise one or more electrical contacts that may come into contact withone or more electrical contacts on-board the extension. This may permitthe extension to have power to perform one or more actions. For example,a UAV may have an on-board power source that may provide power to theextension. Alternatively, the extension may have an on-board local powersource that may or may not provide power to the UAV, or which may beused to power the extension. In some embodiments, when an extension isattached to the UAV via the mounting site, power may flow from the UAVto the extension. The UAV may recognize that an extension is attachedand/or recognize the type of extension. In some instances, the extensionmay send identifying information to the UAV via the mounting site. Whenthe extension receives power from the UAV, the extension may send datato the UAV about the presence of the extension and/or information aboutthe type of extension or any other related data. In some embodiments,the UAV may comprise one or more sensors that may detect when theextension is attached to the UAV and/or recognize the type of extensionattached to the UAV. When the UAV recognizes that the extension isattached and/or recognizes the type of extension, the UAV may optionallysend instructions that may affect operation of the extension.Alternatively, the extension may operate independently without requiringinstructions from the UAV.

In some other instances, the connection may be a purely mechanicalconnection and not require electrical power for the extension.

The extension may serve the same purpose regardless of which mountingsite it is attached to. Alternatively, the extension may serve differentpurposes depending on which mounting site it is attached to. The sameextension may be used for different purposes when attached to differentmounting sites. In one example, the extension may function as aprotective gear for the propellers when attached to a first mountingsite, and the extension may serve as a landing stand when attached to asecond mounting site, as described in greater detail below. Inalternative embodiments, different extensions may be attached todifferent mounting sites or the same mounting site for differentpurposes.

FIG. 7 shows an example of how an extension can be attached to a UAV asprotective gear, in accordance with embodiments of the disclosure. TheUAV 700 may comprise a central body 710. The central body may have anycharacteristics as described elsewhere herein. The UAV may comprise oneor more propulsion units, which may comprise a propeller seat 720 and/orpropeller blades 730. The propulsion units may have any characteristicsas described elsewhere herein. One or more mounting sites 740 may beprovided. The mounting sites may have any characteristics as describedelsewhere herein.

An extension 750 may be attached to a mounting site 740. In one example,the extension may be attached to a mounting site on a top surface of theUAV. The extension may be attached to a mounting site on an uppersurface of a central body of the UAV. The top portion of the centralbody may be configured to receive the extension. The extension may beprovided on a same side of the UAV as a side on which the propulsionunits are arranged.

The extension may serve a protective gear for the propellers of the UAVwhen attached to a mounting site. The extension may be configured tohold the propeller blades in place. The extension may be configured toprotect the propeller blades. The extension may serve as protective gearwhen the UAV is not in flight. The extension may serve as protectivegear when the UAV is being transported or stored. The propeller bladesof the UAV may be folded inward when the extension is attached as theprotective gear. The folding in of the propeller blades may provide acompact arrangement for the UAV, and the protective gear may protect thefolded propeller blades. The protective gear may optionally prevent thefolded propeller blades from swinging outward while the protective gearis attached. The protective gear may protect the propeller blades fromdamage (e.g., bending) when the protective gear is attached. Even if theUAV is dropped, the protective gear may prevent the blades from cominginto the contact with the ground or other surface and protect them fromdamage. Similarly, if the UAV is transported, it may prevent thepropellers from bumping into items and being damaged. The protectivegear may optionally cover at least a portion of the top surface of thepropeller blades when the protective gear is attached. The protectivegear may cover an entirety of the top surface of the propeller blades.The protective gear may or may not cover hubs of the propellers of theUAV. The protective gear may serve as compact protective covers for thepropellers. The protective gear may be attached as needed and may bedetached when no longer needed (e.g., when the UAV is in flight).

The protective gear may have a length that may extend substantiallyalong the length of the UAV. The protective gear length may be about thesame as a length of the central body of the UAV. The protective gearlength may be plus or minus about less than or equal to 10%, 7%, 5%, 3%,2%, 1%, 0.5% or 0.1% the length of the UAV central body. The protectivegear may or may not comprise bends at the end of the protective gear.For instance, the protective gear may have ends that slant inwardstoward the central body. This may provide a more compact shape and/orreduce sharp edges or corners. The ends may be slanted or curved.

The extension serving as the protective gear may be removed from the UAVwhen the UAV is ready for flight. Prior to takeoff of the UAV, a usermay remove the extension from the UAV. The user may or may not put theextension on another portion of the UAV. In some embodiments, a sensormay be provided that may detect the presence or absence of the extensionfrom the mounting site where it would serve as protective gear. In someembodiments, if the extension is still attached as the protective gear,the UAV may be prevented from taking off. If a sensor detects that theextension is still attached as the protective gear, the UAV may beprevented from taking off. For instance, the motors controlling thepropellers may be prevented from spinning. When the extension has beenremoved from the mounting site where it would function as the protectivegear, the UAV may be permitted to take-off.

FIG. 8 shows an example of how an extension can be attached to a UAV asa landing stand, in accordance with embodiments of the disclosure. Theextension 750 may be attached to a mounting site 740 to serve as alanding stand. In one example, the extension may be attached to amounting site on a bottom surface of the UAV. The extension may beattached to a mounting site on a lower surface of a central body of theUAV. The bottom portion of the central body may be configured to receivethe extension. The extension may be provided on a different side of theUAV as a side on which the propulsion units are arranged. The extensionmay be provided on a same side of the UAV configured to face a landingsurface when the UAV is landing or taking off from the surface.

The extension may serve a landing stand for the UAV when attached to amounting site. The extension may be configured to support the UAV whenthe UAV is landed. The extension may be configured to bear weight of theUAV when the UAV is resting on an underlying surface. The extension mayserve as a landing stand when the UAV is not in flight. The extensionmay serve as landing gear when the UAV is resting on a surface. Theextension may be attached to the UAV as a landing gear when the UAV isin flight. When the UAV is in flight, the landing stand may not bebearing weight of the UAV on an underlying surface. The configuration ofthe landing stand may be the same when the UAV is in flight and when theUAV is landed. Alternatively, the configuration of the landing stand maybe different when the UAV is in flight and when the UAV is landed.

The extension may have a length that may extend substantially along thelength of the UAV. The extension length may be about the same as alength of the central body of the UAV. The protective gear length may beplus or minus about less than or equal to 10%, 7%, 5%, 3%, 2%, 1%, 0.5%or 0.1% the length of the UAV central body. The extension length may beoriented differently from the length of the central body. In someinstances, the extension length may be perpendicular to the length ofthe central body when attached as a landing stand. The extension may bearranged so that it extends in a lateral direction. The landing standmay protrude from the sides of the UAV to provide stability to the UAV.The protective gear may or may not comprise bends at the end of theprotective gear. For instance, the protective gear may have ends thatslant upwards toward the central body when attached as the landingstand. This may provide a more compact shape and/or reduce sharp edgesor corners. The ends may be slanted or curved.

The extension serving as the landing stand may be removed from the UAVwhen the UAV is stored or transported. The extension may then be used asprotective gear for the UAV. Prior to takeoff of the UAV, a user mayattach the extension to the UAV. In some embodiments, a sensor may beprovided that may detect the presence or absence of the extension fromthe mounting site where it would serve as a landing stand. In someembodiments, if the extension is not attached as the landing stand, theUAV may be prevented from taking off. If a sensor detects that theextension is not attached as the landing stand, the UAV may be preventedfrom taking off. For instance, the motors controlling the propellers maybe prevented from spinning. Alternatively, the UAV may be permitted totake off regardless of whether the landing stand is attached. In someembodiments, the landing stand may be used when the UAV is landing on anunderlying surface and is not used when landing on a user's hand. Insome embodiments, not including the landing stand at all may provide areduced weight for the UAV, which may increase flight time. The user maydetermine when it is convenient to attach the extension as a landingstand.

FIG. 9 shows an example of a foldable landing stand, in accordance withembodiments of the disclosure. The UAV 900 may comprise a central body910. The central body may have any characteristics as describedelsewhere herein. The UAV may comprise one or more propulsion units,which may comprise a propeller seat 920 and/or propeller blades 930. Thepropulsion units may have any characteristics as described elsewhereherein.

The UAV may comprise a camera module 940. The camera module may beprovided on-board a central body of the UAV. The camera module may beintegrated into the central body of the UAV, permanently attached to thecentral body, or may be removably attached to the central body. Thecamera module may comprise a payload, such as a camera, or any othertype of payload as described elsewhere herein. The camera module maycomprise a carrier, such as a gimbal, as described elsewhere herein. Thegimbal may be a one-axis gimbal, two-axis gimbal, or three-axis gimbal.The payload may be supported by the carrier. The carrier may be used tocontrol the orientation of the payload relative to the central body. Forinstance, the carrier may be used to control the orientation of a camerarelative to the central body.

The UAV may comprise a landing stand 950. The landing stand may beconfigured to support the UAV when the UAV is not in flight. The landingstand may be configured to bear weight of the UAV when the UAV is landedon a surface. The landing stand may be an extension that is attached toa mounting site of the UAV. The landing stand may have anycharacteristics of an extension functioning as a landing stand, asdescribed elsewhere herein. The landing stand may be detachably coupledto the UAV. The landing stand may or may not have another function whenattached to a different portion of the UAV. In other instances, thelanding stand may be permanently attached to the UAV.

The landing stand may come into contact with an underlying surface whenthe UAV is not in flight. The landing stand may or may not permit thecentral body of the UAV to come into contact with the underlying surfacewhen the UAV is resting on the surface. In some instances, the landingstand may cause the central body to be at least partially elevated overthe underlying surface. The landing stand may or may not prevent acamera module from coming into contact with the underlying surface whenthe UAV is resting on the surface. The landing stand may cause thecamera module to be at least partially elevated over the underlyingsurface. This may reduce the likelihood that the camera is damaged whenthe UAV takes off or lands on the underlying surface.

The landing stand may be substantially static. The landing stand may bestatic relative to a central body of the UAV. Alternatively the landingstand may have one or more movable components. The one or more movablecomponents may be movable relative to a central body of the UAV. Thelanding stand itself may be movable relative to the central body of theUAV. In one example, the landing stand may be a foldable landing stand.The landing stand may include one or more lateral extensions that mayprovide stability to the UAV when the UAV is resting on a surface. Thelateral extensions may extend perpendicularly relative to a longitudinalaxis of the UAV. The lateral extensions may be foldable. The lateralextensions may fold upwards toward the central body of the UAV. Thelateral extensions may fold upwards until they have a substantiallyvertical orientation. The lateral extensions may fold upwards until theycome into contact with the sides of the central body. The lateralextensions may fold upwards until they are flush against the sides ofthe central body. The lateral extensions may fold up and fold back outto their lateral configuration.

Optionally, the lateral extensions may be folded outwards when the UAVis resting on a surface, about to land on a surface, or immediatelyafter taking off from a surface. The lateral extensions may be foldedupwards when the UAV is in flight, or when the UAV is being stored ortransported. Folding the lateral extensions upwards may provide a morecompact form of the UAV. The compact form of the UAV may allow forreduced space requirements for storage or transport. The compact form ofthe UAV may provide improved aerodynamics during flight of the UAVcompared to having the extensions folded outward. The lateral extensionsmay be locked into their respective positions at the various stages ofuse. For example, when the extensions are folded outward, they mayremain in the outward position until manually manipulated by a user, orin response to a command or movement by an actuator. When the extensionsare folded upwards, they may remain in the upward position untilmanually manipulated by a user, or in response to a command or movementby an actuator. In some instances, the lateral extensions may remainupwards during flight of the UAV without coming down until the UAV isready to land.

In some embodiments, the lateral extensions may be folded substantiallyoutwards when in a landing stand configuration. The lateral extensionsmay be folded outwards to be substantially perpendicular to a sidesurface of the central body. The lateral extensions may form asubstantially straight line relative to one another. The lateralextensions may be substantially parallel to one another when foldedoutwards. In some embodiments, the lateral extensions may be folded atleast partially downwards when in a landing stand configuration. Thelateral extensions may be folded at least partially downwards to createan obtuse angle between the lateral extension and a side of the centralbody. In some instances two lateral extensions may be provided. In someinstances, additional lateral extensions may be provided. For instance,a landing stand may have a tripod configuration.

The lateral extensions may change position in response to manualmanipulation by a user. In some instances, the user may directly pull onthe lateral extensions to get them to change angle to a desiredposition. The user may or may not unlock the lateral extensions from agiven position with an additional action, such as motions describedelsewhere herein. Alternatively or in addition, the lateral extensionsmay automatically change positions in response to a command withoutrequiring manual manipulation by a user. One or more actuator may effectmovement of the lateral extensions in response to a command. The commandmay be generated by a flight controller or any other processors on-boardthe UAV. The command may be generated in response to data collected by asensor. For instance, if the UAV is approaching a landing surface, thelanding stand extensions may automatically fold outwards. If the UAV hastaken off and is in flight, the landing stand extensions mayautomatically fold upwards. The extensions folding upwards and downwardsmay comprise at least a portion of the extension being rotatablerelative to the central body.

In some embodiments, an extension attached to a UAV may be configured tobe rotatable relative to the central body when attached to the centralbody. All or a portion of the extension may be rotatable relative to thecentral body. The extension may be configured to be rotatable relativeto the central body when attached to a top surface or a bottom surfaceof the central body, or any other side, end, or portion of the centralbody. The extension may be manually rotatable. For instance, a user maydirectly manually manipulate the extension to cause rotation of theextension. The extension may be automatically rotatable with aid of oneor more actuators. The extension may be configured to rotate in responseto a sensed condition. In one example, the extension may be rotated tohave a length extending perpendicular to a longitudinal axis of thecentral body when the UAV is about to land and rotated to have a lengthextending parallel to the longitudinal axis when the UAV is in flight.The extension may rotate about a vertical axis. The extension may rotateabout a vertical axis to change orientation of the extension.

The UAV may be held in a user's hand when not in flight, or may rest ona surface when not in flight. The camera module may permit the UAV tocapture images while in flight and while not in flight. For instance,the UAV may be capable of aerial photography with aid of camera modulewhen in flight. The UAV may be captured of ground-based photography withaid of the camera module when not in flight. When the UAV is held in auser's hand, the UAV may be used for handheld photography. When the UAVis resting on a surface, the UAV may be used for land-based photographywith the extension serving as the support.

The extension may or may not be configured to protect a camera module ofthe UAV. For instance, the extension may be configured to protect apayload and/or a carrier configured to control orientation of thepayload relative to the central body. The payload may be an imagecapture device. The extension may prevent the camera module from cominginto contact with an underlying surface when the UAV is resting on thesurface. The extension may provide protection for the camera modulewhile the UAV is in flight. The extension may at least partiallysurround or cover the camera module when the UAV is flight, or when theUAV is landing on a surface.

An extension, such as a landing gear, may have a variety ofconfiguration, such as those illustrated herein, and variations thereof.For instance, the landing gear may pull out, rotate out, push out, or beextended beyond the central body. The landing gear may extendlongitudinally and/or along a direction of the width of the UAV. Thelanding gear may or may not have vertical components upwards and/ordownwards. The landing gear may fold or pivot about one or morelocations. The landing gear may rotate about one or more axes (e.g.,vertical axis, longitudinal axis, and/or width axis). The landing gearmay cover and protect the camera. The landing gear may cover and protectthe camera when retracting or when extending. The landing gear mayprotect the camera when retracted.

FIG. 10 shows an example of an extension that can be attached to the UAVas a tripod, in accordance with embodiments of the disclosure. The UAV1000 may comprise a central body 1010. The central body may have anycharacteristics as described elsewhere herein. The UAV may comprise oneor more propulsion units, which may comprise a propeller seat 1020and/or propeller blades 1030. The propulsion units may have anycharacteristics as described elsewhere herein. The UAV may comprise acamera module 1040. The camera module may have any characteristics asdescribed elsewhere herein. The camera module may be capable ofcapturing an image within a field of view 1050.

In some embodiments, the extension may be a tripod 1060. The extensionmay have any characteristics as described elsewhere herein. Theextension may be detachably mounted to a mounting site of the UAV. Thetripod may comprise any number of supporting legs. In some embodiments,any description herein of a tripod may apply to a monopod. For instance,a single supporting leg may be provided which may be configured to bearweight of the UAV when the UAV is not in flight. The single supportingleg may have an extended base or may be reconfigurable to accommodatedifferent support situations. For example, the single supporting leg maybe bendable. In other instances, the tripod may comprise two legs, threelegs, four legs, five legs, six legs, seven legs, eight legs, or more.The legs may be substantially static or may be substantially movable. Insome instances, the legs may be bendable. The legs may bend at one ormore joints. The entirety of the length of the leg may be bendable. Thelegs may wrap around one or more object. The legs may move relative to acentral hub. The central hub may connect to a mounting site of the UAV.The legs may extend outward from a hub. The legs may pivot relative tothe hub. The legs may be adjusted when the UAV lands to provide adesired effect.

The UAV may be used for land-based photography when the UAV is restingon the tripod when the UAV is not in flight. The tripod may be supportthe UAV on a stationary or moving surface. For instance, the tripod maysupport the UAV on a static surface. The legs of the tripod may bearranged to provide stable support for the UAV. The legs may contact theunderlying surface. In some instances, the legs may wrap around one ormore objects. The UAV may be capturing images while resting on thestatic surface. The UAV may be attached to a moving surface, such as avehicle or a boom. The tripod may include legs that may lock into themoving surface, be clamped by the moving surface, or wrap around or moreportions of the moving surface. The tripod may be held by a user's hand.The user may grasp one or more legs of the tripod to use the UAV forhandheld photography.

The tripod may be exchanged for any other type of landing standextension as described elsewhere herein. For instance, in someembodiments, a landing stand that may also function as a propellerprotective gear may be exchanged for a tripod landing stand. Differenttypes of landing stands may be attached and/or detached from a mountingsite of the UAV.

FIG. 11 shows an example of an extension that can be attached to the UAVas a selfie stick, in accordance with embodiments of the disclosure. TheUAV 1100 may comprise a central body 1110. The central body may have anycharacteristics as described elsewhere herein. The UAV may comprise oneor more propulsion units, which may comprise a propeller seat and/orpropeller blades 1130. The propulsion units may have any characteristicsas described elsewhere herein. The UAV may comprise a camera module. Thecamera module may have any characteristics as described elsewhereherein. The camera module may be capable of capturing an image within afield of view.

In some embodiments, the extension may be a selfie stick 1160. Theextension may have any characteristics as described elsewhere herein.The extension may be detachably mounted to a mounting site of the UAV.The selfie stick may comprise a handle that the user may grip whenholding the selfie stick. The selfie stick may include an extended bodythat may hold the UAV away from the user. The extended body may have anadjustable length. For instance, the extended body may have two or morecomponents that may slide relative to one another to adjust the lengthof the extended body. In one example, the components of the extendedbody may have a telescoping configuration. The telescoping pieces mayslide relative to one another to permit extension and compaction of theselfie stick. The selfie stick may comprise one or more components thatare rigid. Alternatively, one or more components may be bendable orflexible.

The handle of the selfie stick may comprise one or more controls. Theuser may interact with the controls while holding the selfie stick. Theuser may interact with the controls while the UAV is supported on theselfie stick and held away from the user. In some instances, thecontrols may permit a user to capture a photo of the user with aid of acamera on-board the UAV. The controls may provide instructions to snap aphoto, zoom in and/or zoom out, switch a viewing modality, switch animage capture modality, and/or adjusting an angle of the camera relativeto the UAV body. The controls may affect operation of a carrier of apayload. For instance, the controls may cause a gimbal to controlorientation of a camera relative to the central body.

A selfie stick may be mechanically connected to the UAV. The selfiestick may lock to the UAV at a mounting site or any other connectionmechanism. The UAV may remain attached to the selfie stick, even whenpropellers of the UAV are rotating. The UAV may be removed from theselfie stick through manual manipulation by the user. In some instances,the UAV may be removed from the selfie stick only when the user removesthe UAV from the selfie stick. The user may engage in one or moremotions to remove the UAV from the selfie stick, as described elsewhereherein. The selfie stick may be electrically connected to the UAV. Powerand/or communications from flow from the stick to the UAV, and/or fromthe UAV to the stick. In one example, input by a user via the controlsof the selfie stick may affect operation of the UAV (e.g., operation ofa camera module, operation of one or more propellers, operation of oneor more light sources, operation of one or more audio sources, etc.).The selfie stick may comprise one or more electrical contacts which maycome into contact with one or more electrical contacts of a mountingsite of the UAV. The power and/or communications may flow via the one ormore electrical contacts. In some instances, a power source may beon-board the UAV and may provide power to the selfie stick. In otherinstances, a power source may be on-board the selfie stick and mayprovide power to one or more components of the UAV. IN some instances,both the UAV and the selfie stick may have their own power source.

A user may hold the selfie stick while the camera on-board the UAVcaptures images of the user. The camera on-board the UAV may beconfigured to be automatically controlled to focus on a user holding theselfie stick. The images captured by the camera may be analyzed torecognize the user. The individual user may be recognized, or the usermay be recognized as having a human face that the camera will focus on.The camera may be controlled to focus on the user and/or otherindividuals around the user within the field of view.

In some instances, the propellers of the UAV may rotate to directairflow toward the user to create a wind effect. The propeller bladesmay be oriented to direct airflow towards the user. In some embodiments,the UAV may recognize when the selfie stick is attached to the UAV. Thepropellers may rotate at a desired speed to provide the wind effect. Insome instances, attachment of the selfie stick may be recognized by theUAV and may automatically cause the propellers to rotate at a desiredrate. Optionally, the selfie stick may comprise one or more controlsthat may allow the user to control the wind effect by the propellers.The controls may be provided on a handle of the selfie stick so that theuser may be able to manipulate the controls while the UAV is attached tothe selfie stick. For instance, the user may be able to turn the windeffect on or off (control whether the propellers rotate or do notrotate). The user may or may not be able to adjust a level of the windeffect. For instance, the controls may permit the user to adjust thespeed at which the propellers may rotate, which may affect the degree ofwind blown towards the user. The user can provide an input to increaseor decrease the speed at which the propellers are rotating. In someinstances, a maximum limit may be provided to the speed at which thepropellers are rotating while the selfie stick is attached to the UAV.

The UAV may comprise one or more light sources. The light source may beused to provide illumination of the user holding the selfie stick. Thelight source may be primarily directed toward the user holding theselfie stick. In some instances, a single light source may be provided.Alternatively, multiple light sources may be provided. The light sourcesmay be of different characteristics. For example, the light sources mayemit lights of different colors. The user may select one or more of thelight sources to provide light to achieve a desired lighting effect inthe photo. For instance, the user may select a light source with aparticular color of light, or a combination of light sources of variouscolors of light to provide a desired lighting effect. In some instances,the angle of the light may be adjustable. The brightness of the lightsources may be adjustable. Brightness levels of multiple light sourcesmay be adjusted independently of one another. Optionally, the selfiestick may comprise one or more controls that may allow the user tocontrol the lighting effect. The controls may be provided on a handle ofthe selfie stick so that the user may be able to manipulate the controlswhile the UAV is attached to the selfie stick. For instance, the usermay be able to turn one or more light sources on or off. When multiplelight sources are available, a user may independently turn each of thelight sources on or off. If the light sources are of different colors,the user may thus be controlling the overall color of light beingemitted by the UAV. The user may or may not be able to adjust abrightness level of the light sources. The user can provide an input toincrease or decrease the brightness at which each of the light sourcesare emitting light.

The UAV may be used for land-based photography when the UAV is attachedto the selfie stick when the UAV is not in flight. The selfie stick maybe held by a user's hand. The selfie stick may be removed when the UAVis in flight. The UAV may or may not be capable of flight when theselfie stick is attached.

The selfie stick may be exchanged for any other type of landing standextension as described elsewhere herein. For instance, in someembodiments, a landing stand that may also function as a propellerprotective gear, or a tripod, may be exchanged for a selfie stick.Different types of landing stands may be attached and/or detached from amounting site of the UAV.

The UAV may be a portable device that may be well suited for aerialphotography and for taking selfies or other types of handheldphotography. Features of the UAV that may be used for flight, may alsoaid in the taking of selfies or other types of handheld photography. Forinstance, the propellers may advantageously be useful for flight of theUAV and for providing wind effects when taking a selfie.

FIG. 12 shows multiple ways in which the UAV can be held, in accordancewith embodiments of the disclosure. The UAV 1200 may comprise a centralbody 1210. The central body may have any characteristics as describedelsewhere herein. The UAV may comprise one or more propulsion units,which may comprise a propeller seat 1220 and/or propeller blades 1230.The propulsion units may have any characteristics as described elsewhereherein. The UAV may comprise a camera module 1240. The camera module mayhave any characteristics as described elsewhere herein. The cameramodule may be capable of capturing an image within a field of view 1250.Optionally, an extension may or may not be attached to the UAV. Forinstance, an extension serving as a propeller guard 1260 may be attachedto the UAV.

The UAV may be configured to be held in a user's hand. In one example, aUAV may be held in a substantially horizontal orientation with thepropellers facing upwards. When in the substantially horizontalorientation, a user's fingers may wrap over the propellers. Thepropellers may be folded inwards to provide a compact shape. A propellerguard may or may not be provided to protect the propellers. A cameramodule may be provided on-board the UAV. A camera of the camera modulemay capture images while the UAV is held in the user's hand. The UAV maybe used for handheld photography. The field of view of the camera may beadjustable relative to the UAV central body. The camera module maycomprise a carrier that may allow the camera orientation relative to theUAV body to change. In some instances, the field of view may be directedsubstantially horizontally. When the field of view is directedsubstantially horizontally, it may be directed toward an end of the UAVbody.

In another example, a UAV may be held in a substantially verticalorientation with the propellers facing toward the side. When in thesubstantially vertical orientation, a user's thumb may be supported overthe propellers. The propellers may be folded inwards to provide acompact shape. A propeller guard may or may not be provided to protectthe propellers. A camera module may be provided on-board the UAV. Acamera of the camera module may capture images while the UAV is held inthe user's hand. The UAV may be used for handheld photography. The fieldof view of the camera may be adjustable relative to the UAV centralbody. The camera module may comprise a carrier that may allow the cameraorientation relative to the UAV body to change. In some instances, thefield of view may be directed substantially horizontally. When the fieldof view is directed substantially horizontally, it may be directedtoward a bottom of the UAV body.

In some instances, the UAV orientation relative to an inertial referenceframe may change. For instance, a user may switch between horizontal andvertical orientations, or any other orientation. The camera may remainstabilized on the UAV. For instance, the field of view of the camera mayremain pointing in substantially the same direction, regardless of howthe orientation of the UAV central body may change. The camera may bestabilized with aid of the carrier (e.g., gimbal). For instance, if thefield of view is directed in a substantially horizontal direction, itmay remain facing in the same substantially horizontal direction despitemovement of the UAV central body. The direction of the field of view ofthe camera may be controlled independently of the orientation of the UAVcentral body. In some instances, the user may actively control the fieldof view of the camera to aim in a desired direction. The field of viewof the camera may remain pointing in the desired direction regardless ofmotion of the UAV body.

The UAV may comprise one or more sensors that may be able to detect theorientation of the UAV relative to an inertial reference frame. The oneor more sensors may be able to detect the orientation of the UAVrelative to a direction of gravity. The sensors may be able to detect anattitude of the UAV, a rotational speed of the UAV, a rotationalacceleration of the UAV, a location of the UAV, a linear speed of theUAV, and/or a linear acceleration of the UAV. In some embodiments, thesensors may comprise one or more inertial sensors, such asaccelerometers, gyroscopes, magnetometers, or any other types ofinertial sensors. The data from the sensors may be useful in stabilizingthe camera.

The UAV may function as a mini handheld stabilizer for the camera. Thecarrier on-board the UAV may allow the UAV to function as the handheldstabilizer for the camera. The UAV may be well suited for ground-levelphotography (e.g., handheld photography).

FIG. 13 shows a handheld sling and phone holder, in accordance withembodiments of the disclosure. A UAV 1300 may comprise a central body1310. The central body may have any characteristics as describedelsewhere herein. The UAV may comprise one or more propulsion units,which may comprise a propeller seat and/or propeller blades 1330. Thepropulsion units may have any characteristics as described elsewhereherein.

An extension such as a handheld sling 1340 may be attached to the UAV.The extension may be attached to a mounting site of the UAV. Forinstance, the extension may be attached to a mounting site on a topsurface or bottom surface of the UAV. Any description elsewhere hereinregarding extensions may apply.

The handheld sling may extend to a side of the UAV. For instance, thehandheld sling may extend to a right side or left side of the UAV. Thehandheld sling may be configured to accept a mobile device 1350, such asa smartphone. The mobile device may snap into or out of the handheldsling. The mobile device may comprise a display. The display may be atouchscreen display or any other type of display capable of showinginformation. The display may comprise a graphical user interface. Thedisplay may show an image captured by a camera on-board the UAV. Thedisplay may show a streaming image from the camera on-board the UAV. Thedisplay may show images captured by the camera on-board the UAV insubstantially real-time (e.g., within 1 minute, 45 seconds, 30 seconds,20 seconds, 15 seconds, 10 seconds, 7 seconds, 5 seconds, 3 seconds, 2seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds,0.005 seconds, or 0.001 seconds of the image being captured by thecamera).

In some embodiments, data from the camera may be provided to the mobiledevice via a wireless connection. The mobile device may be capable ofdisplaying the images captured by the camera even when the mobile deviceis not attached to the handheld sling, or the handheld sling is notattached to the UAV. In some instances, a direct wireless connection maybe provided between the mobile device and the camera. In otherembodiments, data from the camera may be provided to the mobile devicevia a wired connection. The mobile device may only display the imagescaptured by the camera when the mobile device is attached to thehandheld sling and when the handheld sling is attached to the UAV. Thecamera may provide data about the images via an electrical connectionbetween the UAV and the handheld sling via the mounting site, and thehandheld sling may further convey the data via an electrical connectionbetween the mobile device and the handheld sling.

The mobile device may be useful for framing images captured by thecamera. By viewing the images on the mobile device, a user may be ableto adjust the orientation of the UAV and/or camera. The camera may bestabilized so that even if the UAV is moved around, the camera ispointing in substantially the same direction. When the UAV is carried orworn by a user, or mounted on a movable object (e.g., bicycle, car,boat, motorcycle, or any other type of vehicle), the UAV may serve as aself-stabilization motion camera.

Any description herein of a handheld sling may also apply to a wearable.For instance, an extension may be a wearable object that may permit theUAV to be worn on a user's body. For instance, the UAV may be wornaround a user's wrist, arm, neck, leg, head, torso, or any other art ofthe user's body. The UAV may be attached to a wearable that may be ahelmet, hat, headband, glasses, pendant, chest strap, arm strap, watch,leg strap, jacket, shirt, pants, or any other wearable object.

FIG. 14 shows an example of a UAV in a reverse flying mode, inaccordance with embodiments of the disclosure. The UAV 1400 may comprisea central body 1410. The central body may have any characteristics asdescribed elsewhere herein. The UAV may comprise one or more propulsionunits, which may comprise a propeller seat 1420 and/or propeller blades1430. The propulsion units may have any characteristics as describedelsewhere herein. The UAV may comprise a camera module 1440. The cameramodule may have any characteristics as described elsewhere herein. Thecamera module may be capable of capturing an image within a field ofview 1450.

In some embodiments, a UAV may be capable of flying in a right-side upmode and an upside-down mode. In some embodiments, a UAV may havepropellers that are provided on a top side of the UAV when the UAV isflying in a right-side up mode. The propellers may be on a bottom sideof the UAV when the UAV is flying in an upside-down mode. The propellersmay be located above a camera during a first flight mode (e.g.,right-side up mode). The propellers may be located beneath the cameraduring a second flight mode (e.g., upside-down mode). In someembodiments, the fight flight mode may be a downward aerial photographyflight mode and the second flight mode may be an upward aerialphotography flight mode. For instance, the camera may be on a lower partof the central body during the first flight mode, and may be oriented atleast partially downward, or horizontally. The camera may be an upperpart of the central body during the second flight mode, and may beoriented at least partially upward, or horizontally. As illustrated,when the camera is flying in an upside-down mode the carrier and cameracan freely capture images in an upwards direction. The orientation ofthe central body may change between the first flight mode and the secondflight mode. The central body may flip between the first flight mode andthe second flight mode.

In some embodiments, the UAV may fly in a right-side up mode for aduration of the flight. Then the user may make an adjustment such asflipping the UAV over. The UAV may then fly in an upside-down mode for aduration of the flight. In other embodiments, the UAV may switch betweenflying in a right-side up mode and an upside-down mode while in flight.In some instances, the UAV may switch between the flight modes byadjusting an orientation of the one or more propellers relative to thecentral body. In some instances, the UAV may switch between flight modesby adjusting a speed of rotation of one or more propellers.

The same rotor blades may be used for the first flight mode and thesecond flight mode. Alternatively, different rotor blades may be usedfor the first flight mode and the second flight mode. In someembodiments, the rotor blades used in the second flight mode may have areverse direction of pitch as rotor blades in the first flight mode. Therotor blades may have the exact reversed pitch, or may have differentpitches. The other characteristics between the sets of rotor blades mayor may not be the same (e.g., length, width, shape, thickness, pitch,cross-section, materials). In some embodiments, rotor blades forright-side up flying may be different from rotor blades for upside-downflying. Specialized rotor blades may be configured for upside-downflying. In some embodiments, the control logic for controlling rotationof the propellers may be different between the first flight mode and thesecond flight mode. The control logic may take into account that therelative positioning between the propellers and the central body haschanged. The control logic may take into account that a center of massof the UAV is at a different position relative to the propellers betweenthe first flight mode and the second flight mode. The propellers may berotating in the same direction between the first flight mode and thesecond flight mode. Alternatively the propellers may be rotating in adifferent direction between the first flight mode and the second flightmode.

In some embodiments, propellers may be located both above and below acentral body. In some instances, only the propellers above the body maybe rotating during a first flight mode and only the propellers below thecentral body may be rotating during a second flight mode. Alternatively,both sets of propellers may be in operation during a first flight modeand/or second flight mode. The UAV central body need not changeorientations between the first flight mode and the second flight mode.In some instances, propellers located beneath the central body may havea similar configuration to the propellers located above the centralbody. The propellers beneath the central body may be located at or neardistal ends of the central body. The propellers beneath the central bodymay be arranged along a longitudinal axis of the central body. Thepropellers beneath the central body may comprise a pair of propellers. Acorresponding pair of motors may drive the pair of propellers. Theorientation of the propellers beneath the central body relative to thecentral body may be static, or may be adjustable. The orientation of thepair of propellers beneath the central body may be adjusted with aid ofone or more actuators, such as servomotors. The orientation of the pairof propellers beneath the central body may be adjusted about alongitudinal axis.

FIG. 15 shows an example of a UAV with one or more arm extensionssupporting additional propellers, in accordance with embodiments of thedisclosure. The UAV 1500 may comprise a central body 1510. The centralbody may have any characteristics as described elsewhere herein. The UAVmay comprise one or more propulsion units, which may comprise apropeller seat 1520 and/or propeller blades 1530. The propulsion unitsmay have any characteristics as described elsewhere herein.

The UAV may comprise one or more mounting sites 1540. The mounting sitesmay be provided anywhere on the UAV. The mounting sites may be providedon a central body of the UAV. The mounting sites may be on any surfaceof the UAV. For example, the mounting sites may be on a top surface ofthe UAV, bottom surface of the UAV, front surface of the UAV, rearsurface of the UAV, right surface of the UAV, and/or a left surface ofthe UAV. The mounting sites may be oriented vertically or may beoriented horizontally. In some instances, one or more pairs of mountingsites may be provided on opposing sides of the UAV. The mounting sitesmay have any characteristics as described elsewhere herein.

On or more extensions may be attached to the mounting site. Theextensions may be arms 1550 extending away from the mounting site. Thearms may comprise one or more propulsion units. For example, each armmay support a propeller seat 1560 and one or more propellers 1570. Thepropulsion units may be located at or near a distal end of the arms. Thepropulsion units may be located within 50%, 40%, 30%, 25%, 20%, 10%, 7%,5%, 3%, 1%, 0.05%, or 0.01% of the distal end of the arm along thelength of the arm. The arms may have any length. The arms may have alength less than or equal to a length of the central body. The arms mayhave a length less than or equal to about half a length of the centralbody. The arms may have a length greater than a length of the centralbody or about half a length of the central body.

The arms may be detachably coupled to the central body. The arms may belocked to the central body so that they do not come off during flight ofthe UAV. A user may manually attach and/or detach the arms from thecentral body. The arms may not be attached or detached from the centralbody without manual intervention by the user. The user may attach and/ordetach the arms from the body using one or more motions, such as themotions described elsewhere herein. Any number of arms may be attachedto the UAV. For instance a single arm, two arms, three arms, four arms,five or arms, six arms, seven arms, eight arms, nine arms, ten arms, ormore may be attached to the UAV.

The arms may extend laterally away from the central body. The arms mayextend substantially perpendicularly from a surface to which the armsare attached. The arms may extend at oblique angles relative to asurface to which the arms are attached. The arms may extendsubstantially laterally without tilting upwards or downwards. The armsmay extend laterally while tilting upwards and/or downwards. In someinstances, when the arms are attached to the mounting sites, thepropulsion units supported by the arms may be at the same lateral levelas the propulsion units directly supported by the central body. In someinstances, the propulsion units supported by the arms may be at a higherlateral level or a lower lateral level compared to the propulsion unitsdirectly supported by the central body. The arms may remainsubstantially static relative to the central body when attached to thecentral body. Alternatively, the arms may be movable relative to thecentral body when attached to the central body. For instance, the armsmay pivot at the proximal end of the arm that may attach to the body.The arms may pivot through different vertical angles and/or differentlateral angles. The arms may have one or more joints that may permitbending or folding of the arms. The arms may move when a user manuallymanipulates the arms to move in a particular manner. For instance, auser may fold the arms. In some embodiments, the arms may move with aidof one or more actuators. The arms may be capable of moving duringflight of the UAV. The arms may be capable of moving during takeoff orlanding of the UAV.

The central body may comprise a longitudinal axis extending along alength of the central body. In some instances, the propulsion unitssupported directly by the central body may be positioned along thelongitudinal axis of the central body. The one or more propulsion unitssupported by the arms may not be located on the longitudinal axis. Forinstance, the one or more propulsion units supported by the arms may beheld off to the sides of the UAV and off the longitudinal axis. In someinstances, a pair of arms may be added to the UAV, and allow the UAV toform a quadcopter with the propulsion units supported by the arms andthe propulsion units supported directly on the central body.

The UAV may be capable of flight when the arms are not attached to theUAV. The UAV may be capable of flight with aid of the propulsion unitsdirectly coupled to the central body. The UAV may be capable of flightwith aid of the propulsion units directly supported by the central bodyalone. The UAV may be capable of flight when the arms are attached tothe UAV. The UAV may be capable of flight with aid of propulsion unitsdirectly coupled to the central body and propulsion units supported bythe arms. The UVA may be capable of flight with aid of propulsion unitssupported by the arms without requiring the propulsion units supportedby the central body.

The mounting site may provide a mechanical and/or electrical connectionbetween the arms and the UAV. The mounting site may physically supportthe arms on the UAV. The mounting site may allow power and/or data toflow between the arms and the UAV. For instance, the UAV may have apower source which may provide power to the arms via the mounting siteconnection. For instance, the power source on-board the UAV (e.g.,on-board the central body of the UAV) may provide power to thepropulsion units supported by the arms. Alternatively or in addition,the arms may have a local power source which may provide power to theUAV, or may provide power to the components on-board the arm. In someinstances, the arms may provide information to the UAV when the arms areattached to the UAV. For instance, information about the types of armsand/or propulsion units may be provided to the UAV when the arms areattached to the UAV. Information about operating parameters of the armsmay be sent to the UAV. Data used to control the propulsion units may besent from the UAV to the arms. For instance, a flight controlleron-board the UAV may receive information that the arms are attached tothe UAV. The flight controller may generate one or more commands tocontrol operation of one or more motors of the propulsion unitssupported by the arms. The commands may be conveyed through the mountingsite to the motors supported by the arms to control operation of thepropulsion units.

When the arms are not attached to the UAV, the flight controller may beoperating under a first set of instructions to control the propulsionunits directly supported by the central body. When the arms are attachedto the UAV, the flight controller may be operating under a second set ofinstructions to control the propulsion units directly supported by thecentral body and the propulsion units supported by the arm in concert.The UAV may be operating in different modes when the arms are notattached and when the arms are attached.

The UAV and/or components thereof may be provided as a kit. A kit for aUAV may comprise the UAV itself and/or components thereof. The kit forthe UAV may comprise the UAV and one or more extensions. The kit for theUAV may comprise one or more extensions, such as protective gear,landing stands, tripods, selfie sticks, handheld slings, arms withpropulsion units, or any other type of extensions. The kit for the UAVmay comprise instructions for assembly and/or operation of the UAVand/or any components thereof. The kits may comprise instructions forattachment and/or operation of the extensions with the UAV.

The systems and methods described herein can be implemented by and/orapplied to a wide variety of movable objects. The systems, devices, andmethods described herein can be applied to a wide variety of movableobjects. As previously mentioned, any description herein of an aerialvehicle may apply to and be used for any movable object. A movableobject of the present disclosure can be configured to move within anysuitable environment, such as in air (e.g., a fixed-wing aircraft, arotary-wing aircraft, or an aircraft having neither fixed wings norrotary wings), in water (e.g., a ship or a submarine), on ground (e.g.,a motor vehicle, such as a car, truck, bus, van, motorcycle; a movablestructure or frame such as a stick, fishing pole; or a train), under theground (e.g., a subway), in space (e.g., a spaceplane, a satellite, or aprobe), or any combination of these environments. The movable object canbe a vehicle, such as a vehicle described elsewhere herein. In someembodiments, the movable object can be mounted on a living subject, suchas a human or an animal. Suitable animals can include primates, avines,canines, felines, equines, bovines, ovines, porcines, delphines,rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 40 cm, 50 cm, 1 m, 2 m, 5 m, or10 m. The maximum dimension may be greater than or equal to about: 2 cm,3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25cm, 30 cm, 40 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, thedistance between shafts of opposite rotors of the movable object may beless than or equal to about: 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8cm, 9 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 40 cm, 50 cm, 1 m, 2m, 5 m, or 10 m. Alternatively, the distance between shafts of oppositerotors may be greater than or equal to about: 1 cm, 2 cm, 3 cm, 4 cm, 5cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 40cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³.

Conversely, the total volume of the movable object may be greater thanor equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³,50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail below. In some examples, a ratioof a movable object weight to a load weight may be greater than, lessthan, or equal to about 1:1. In some instances, a ratio of a movableobject weight to a load weight may be greater than, less than, or equalto about 1:1. Optionally, a ratio of a carrier weight to a load weightmay be greater than, less than, or equal to about 1:1. When desired, theratio of an movable object weight to a load weight may be less than orequal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratioof a movable object weight to a load weight can also be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject).

In some embodiments, the load includes a payload. The payload can beconfigured not to perform any operation or function. Alternatively, thepayload can be a payload configured to perform an operation or function,also known as a functional payload. For example, the payload can includeone or more sensors for surveying one or more targets. Any suitablesensor can be incorporated into the payload, such as an image capturedevice (e.g., a camera), an audio capture device (e.g., a parabolicmicrophone), an infrared imaging device, or an ultraviolet imagingdevice. The sensor can provide static sensing data (e.g., a photograph)or dynamic sensing data (e.g., a video). In some embodiments, the sensorprovides sensing data for the target of the payload. Alternatively or incombination, the payload can include one or more emitters for providingsignals to one or more targets. Any suitable emitter can be used, suchas an illumination source or a sound source. In some embodiments, thepayload includes one or more transceivers, such as for communicationwith a module remote from the movable object. Optionally, the payloadcan be configured to interact with the environment or a target. Forexample, the payload can include a tool, instrument, or mechanismcapable of manipulating objects, such as a robotic arm.

Optionally, the load may include a carrier. The carrier can be providedfor the payload and the payload can be coupled to the movable object viathe carrier, either directly (e.g., directly contacting the movableobject) or indirectly (e.g., not contacting the movable object).Conversely, the payload can be mounted on the movable object withoutrequiring a carrier. The payload can be integrally formed with thecarrier. Alternatively, the payload can be releasably coupled to thecarrier. In some embodiments, the payload can include one or morepayload elements, and one or more of the payload elements can be movablerelative to the movable object and/or the carrier, as described above.

The carrier can be integrally formed with the movable object.Alternatively, the carrier can be releasably coupled to the movableobject. The carrier can be coupled to the movable object directly orindirectly. The carrier can provide support to the payload (e.g., carryat least part of the weight of the payload). The carrier can include asuitable mounting structure (e.g., a gimbal platform) capable ofstabilizing and/or directing the movement of the payload. In someembodiments, the carrier can be adapted to control the state of thepayload (e.g., position and/or orientation) relative to the movableobject. For example, the carrier can be configured to move relative tothe movable object (e.g., with respect to one, two, or three degrees oftranslation and/or one, two, or three degrees of rotation) such that thepayload maintains its position and/or orientation relative to a suitablereference frame regardless of the movement of the movable object. Thereference frame can be a fixed reference frame (e.g., the surroundingenvironment). Alternatively, the reference frame can be a movingreference frame (e.g., the movable object, a payload target).

In some embodiments, the carrier can be configured to permit movement ofthe payload relative to the carrier and/or movable object. The movementcan be a translation with respect to up to three degrees of freedom(e.g., along one, two, or three axes) or a rotation with respect to upto three degrees of freedom (e.g., about one, two, or three axes), orany suitable combination thereof.

In some instances, the carrier can include a carrier frame assembly anda carrier actuation assembly. The carrier frame assembly can providestructural support to the payload. The carrier frame assembly caninclude individual carrier frame components, some of which can bemovable relative to one another. The carrier actuation assembly caninclude one or more actuators (e.g., motors) that actuate movement ofthe individual carrier frame components. The actuators can permit themovement of multiple carrier frame components simultaneously, or may beconfigured to permit the movement of a single carrier frame component ata time. The movement of the carrier frame components can produce acorresponding movement of the payload. For example, the carrieractuation assembly can actuate a rotation of one or more carrier framecomponents about one or more axes of rotation (e.g., roll axis, pitchaxis, or yaw axis). The rotation of the one or more carrier framecomponents can cause a payload to rotate about one or more axes ofrotation relative to the movable object. Alternatively or incombination, the carrier actuation assembly can actuate a translation ofone or more carrier frame components along one or more axes oftranslation, and thereby produce a translation of the payload along oneor more corresponding axes relative to the movable object.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal). The terminal can be the same remote controller asdescribed previously herein.

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the position of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

In some embodiments, the movable object that supports the imaging devicemay be a UAV. FIG. 16 illustrates a movable object 1600 including acarrier 1602 and a payload 1604, in accordance with embodiments.Although the movable object 1600 is depicted as an aircraft, thisdepiction is not intended to be limiting, and any suitable type ofmovable object can be used, as previously described herein. One of skillin the art would appreciate that any of the embodiments described hereinin the context of aircraft systems can be applied to any suitablemovable object (e.g., a UAV). In some instances, the payload 1604 may beprovided on the movable object 1600 without requiring the carrier 1602.The payload may include one or more imaging devices. The movable object1600 may include propulsion mechanisms 1606, a sensing system 1608, anda communication system 1610.

Furthermore, while a payload and a single carrier may be illustratedherein, any number of carriers and/or payloads may be carried by a UAV.For instance, the UAV may bear the weight of two or more, three or more,four or more, or five or more carriers (e.g., gimbals), each supportingone or more payloads (e.g., cameras). For example, a dual-cameraconfiguration may be provided as described elsewhere herein.

The propulsion mechanisms 1606 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. For example, the propulsion mechanisms 1606 maybe self-tightening rotors, rotor assemblies, or other rotary propulsionunits, as disclosed elsewhere herein. The movable object may have one ormore, two or more, three or more, or four or more propulsion mechanisms.The propulsion mechanisms may all be of the same type. Alternatively,one or more propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1606 can be mounted on the movableobject 1600 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1606 can be mounted on any suitable portion of the movable object 1600,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1606 can enable themovable object 1600 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1600 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1606 can be operable to permit the movableobject 1600 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanism 1600 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1600 can be configured to becontrolled simultaneously. For example, the movable object 1600 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1600. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1600 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1608 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1600 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude any of the sensors previously described herein, including GPSsensors, motion sensors, inertial sensors, proximity sensors, or imagesensors. The sensing data provided by the sensing system 1608 can beused to control the spatial disposition, velocity, and/or orientation ofthe movable object 1600 (e.g., using a suitable processing unit and/orcontrol module, as described below). Alternatively, the sensing system1608 can be used to provide data regarding the environment surroundingthe movable object, such as weather conditions, proximity to potentialobstacles, location of geographical features, location of manmadestructures, and the like.

The communication system 1610 enables communication with terminal 1612having a communication system 1614 via wireless signals 1616. Thecommunication systems 1610, 1614 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1600 transmitting data to theterminal 1612, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1610 to one or morereceivers of the communication system 1612, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1600 and the terminal 1612. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1610 to one or more receivers of the communication system 1614,and vice-versa.

In some embodiments, the terminal 1612 can provide control data to oneor more of the movable object 1600, carrier 1602, and payload 1604 andreceive information from one or more of the movable object 1600, carrier1602, and payload 1604 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). The terminal can be the sameas the remote controller as described previously. In some instances,control data from the terminal may include instructions for relativepositions, movements, actuations, or controls of the movable object,carrier, and/or payload. For example, the control data may result in amodification of the location and/or orientation of the movable object(e.g., via control of the propulsion mechanisms 1606), or a movement ofthe payload with respect to the movable object (e.g., via control of thecarrier 1602). The control data from the terminal may result in controlof the payload, such as control of the operation of a camera or otherimage capturing device (e.g., taking still or moving pictures, zoomingin or out, turning on or off, switching imaging modes, change imageresolution, changing focus, changing depth of field, changing exposuretime, changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1608 or of the payload 1604). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier, and/or payload. Such information from a payload may includedata captured by the payload or a sensed state of the payload. Thecontrol data provided transmitted by the terminal 1612 can be configuredto control a state of one or more of the movable object 1600, carrier1602, or payload 1604. Alternatively or in combination, the carrier 1602and payload 1604 can also each include a communication module configuredto communicate with terminal 1612, such that the terminal cancommunicate with and control each of the movable object 1600, carrier1602, and payload 1604 independently.

In some embodiments, the movable object 1600 can be configured tocommunicate with another remote device in addition to the terminal 1612,or instead of the terminal 1612. The terminal 1612 may also beconfigured to communicate with another remote device as well as themovable object 1600. For example, the movable object 1600 and/orterminal 1612 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1600, receivedata from the movable object 1600, transmit data to the terminal 1612,and/or receive data from the terminal 1612. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1600 and/orterminal 1612 can be uploaded to a website or server.

FIG. 17 illustrates an exemplary system 1700 for capturing image data,in accordance with embodiments. The system 1700 can be used incombination with any suitable embodiment of the systems, devices, andmethods disclosed herein. For example, the system 1700 may implementedor carried by a movable object. The system 1700 can include a sensingmodule 1702, processing unit 1704, non-transitory computer readablemedium 1706, control module 1708, and communication module 1710.

The sensing module 1702 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1702 can beoperatively coupled to a processing unit 1704 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1712 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1712 canbe used to transmit images captured by one or more cameras of thesensing module 1702 to a remote terminal. For instance, the transmissionmodule may be used to transmit images captured by multiple camerassupported by multiple gimbals to a remote terminal.

The processing unit 1704 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Forexample, the processing unit 1704 may include a field programmable gatearray (FPGA) and/or one or more ARM processors. The processing unit 1704can be operatively coupled to a non-transitory computer readable medium1706. The non-transitory computer readable medium 1706 can store logic,code, and/or program instructions executable by the processing unit 1704for performing one or more steps. The non-transitory computer readablemedium can include one or more memory units (e.g., removable media orexternal storage such as an SD card or random access memory (RAM)). Insome embodiments, data from the sensing module 1702 can be directlyconveyed to and stored within the memory units of the non-transitorycomputer readable medium 1706. The memory units of the non-transitorycomputer readable medium 1706 can store logic, code and/or programinstructions executable by the processing unit 1704 to perform anysuitable embodiment of the methods described herein. For example, theprocessing unit 1704 can be configured to execute instructions causingone or more processors of the processing unit 1704 to perform the imagezoom control functionalities discussed herein. The memory units canstore sensing data from the sensing module to be processed by theprocessing unit 1704. In some embodiments, the memory units of thenon-transitory computer readable medium 1706 can be used to store theprocessing results produced by the processing unit 1704.

In some embodiments, the processing unit 1704 can be operatively coupledto a control module 1708 configured to control a state of the movableobject. For example, the control module 1708 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1708 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1704 can be operatively coupled to a communicationmodule 1710 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1710 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1710 can transmit and/or receive one or more of sensing data from thesensing module 1702, and/or processing results produced by theprocessing unit 1704, predetermined control data or user commands from aterminal or remote controller, and the like.

The components of the system 1700 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1700 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 17 depicts asingle processing unit 1704 and a single non-transitory computerreadable medium 1706, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1700 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1700 can occur at one or more of theaforementioned locations.

It should be understood from the foregoing that, while particularimplementations have been illustrated and described, variousmodifications can be made thereto and are contemplated herein. It isalso not intended that the disclosure be limited by the specificexamples provided within the specification. While the disclosure hasbeen described with reference to the aforementioned specification, thedescriptions and illustrations of the embodiments herein are not meantto be construed in a limiting sense. Furthermore, it shall be understoodthat all aspects of the disclosure are not limited to the specificdepictions, configurations or relative proportions set forth hereinwhich depend upon a variety of conditions and variables. Variousmodifications in form and detail of the embodiments of the disclosurewill be apparent to a person skilled in the art. It is thereforecontemplated that the disclosure shall also cover any suchmodifications, variations and equivalents.

What is claimed is:
 1. An unmanned aerial vehicle (UAV) comprising: acentral body having a lateral dimension substantially less than avertical dimension; and one or more propulsion units supported by thecentral body, wherein the one or more propulsion units comprise rotorblades configured to rotate to generate lift for the UAV.
 2. The UAV ofclaim 1, wherein the lateral dimension is a width w of the central bodyand the vertical dimension is a height h of the central body, and theratio of h:w is greater than or equal to 2:1.
 3. The UAV of claim 2,wherein the central body also has a length 1 of the central body, andthe ratio of l:w is greater than or equal to 2:1.
 4. The UAV of claim 2,wherein the width of the central body is sized to be small enough toreduce obstruction of downward airflow generated by the rotor blades. 5.The UAV of claim 1, wherein the lateral dimension is less than 3 cm. 6.The UAV of claim 1, further comprising an image capture device supportedby the central body, wherein the central body has a portable andergonomic shape to permit handheld imaging.
 7. The UAV of claim 6,wherein the image capture device is supported by the central body withaid of a carrier that permits the image capture device to rotate aboutone or more axes relative to the central body.
 8. The UAV of claim 1,wherein the lateral dimension is sized to be small enough to permit theUAV to land or take off from a user's hand while allowing a user's handto grasp opposing sides of the central body.
 9. The UAV of claim 1,wherein the vertical dimension is sized to be great enough to allow theUAV to land or take off from a user's hand without the user's handcoming into contact with the rotor blades when the user's hand graspsopposing sides of the central body.
 10. The UAV of claim 1, wherein thecentral body is shaped to provide less than a predetermined threshold ofair resistance in a direction of flight.
 11. The UAV of claim 1, whereinthe one or more propulsion units are directly supported on the centralbody without the use of arms extending away from the central body.
 12. Amethod for providing an unmanned aerial vehicle (UAV), comprising:providing a central body having a lateral dimension substantially lessthan a vertical dimension; and supporting, by the central body, one ormore propulsion units, wherein the one or more propulsion units compriserotor blades configured to rotate to generate lift for the UAV.
 13. Themethod of claim 12, wherein the lateral dimension is a width w of thecentral body and the vertical dimension is a height h of the centralbody, and the ratio of h:w is greater than or equal to 2:1.
 14. Themethod of claim 13, wherein the width of the central body is sized to besmall enough to reduce obstruction of downward airflow generated by therotor blades.
 15. The method of claim 12, further comprising providingan image capture device supported by the central body, wherein thecentral body has a portable and ergonomic shape to permit handheldimaging.
 16. The method of claim 15, wherein the image capture device issupported by the central body with aid of a carrier that permits theimage capture device to rotate about one or more axes relative to thecentral body.
 17. The method of claim 12, wherein the lateral dimensionis sized to be small enough to permit the UAV to land or take off from auser's hand while allowing a user's hand to grasp opposing sides of thecentral body.
 18. The method of claim 12, wherein the vertical dimensionis sized to be great enough to allow the UAV to land or take off from auser's hand without the user's hand coming into contact with the rotorblades when the user's hand grasps opposing sides of the central body.19. The method of claim 12, wherein the central body is shaped toprovide less than a predetermined threshold of air resistance in adirection of flight.
 20. The method of claim 12, wherein the one or morepropulsion units are directly supported on the central body without theuse of arms extending away from the central body.